\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 96.19 \% & 95.24 \% & 90.60 \%\\
Pedestrian (Detection) & 71.70 \% & 62.48 \% & 59.97 \%\\
Cyclist (Detection) & 88.22 \% & 75.79 \% & 69.08 \%
\end{tabular}