\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 95.12 \% & 94.47 \% & 86.45 \%\\
Pedestrian (Detection) & 88.87 \% & 78.40 \% & 73.66 \%\\
Cyclist (Detection) & 83.68 \% & 75.22 \% & 65.22 \%
\end{tabular}