\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 90.61 \% & 90.15 \% & 84.01 \%\\
Pedestrian (Detection) & 84.93 \% & 77.61 \% & 72.52 \%\\
Cyclist (Detection) & 84.28 \% & 79.24 \% & 71.22 \%
\end{tabular}