\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.16 \% & 92.03 \% & 79.16 \%\\
Pedestrian (Detection) & 82.07 \% & 70.42 \% & 65.09 \%\\
Cyclist (Detection) & 82.59 \% & 73.85 \% & 64.87 \%
\end{tabular}