\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 54.38 \% & 45.94 \% & 40.48 \%\\
Pedestrian (Detection) & 42.66 \% & 33.04 \% & 30.59 \%\\
Cyclist (Detection) & 39.81 \% & 27.99 \% & 25.19 \%
\end{tabular}