\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 93.87 \% & 88.68 \% & 76.11 \%\\
Pedestrian (Detection) & 85.71 \% & 74.89 \% & 68.99 \%\\
Cyclist (Detection) & 84.88 \% & 75.30 \% & 65.27 \%
\end{tabular}