Ground Truth Matches
Ground Truth Matches (GTM) to test computer vision algorithms which use image features
GTM for the datasets KITTI 2015 and Oxford (Mikolajczyk et al.) can be downloaded here.
For the corresponding image data please visit
A detailed description of the GTM and a few test results can be found in our paper. Further results on the performance of keypoint-descriptor pairings and matching algorithms can be downloaded here: Supplementary material (3178 downloads )
Additional information and an interface for reading and viewing GTM can be found at https://github.com/josefmaierfl/GTM
Downloads:
Complete GTMs for KITTI 2015 and Oxford datasets including all available keypoint types and inlier ratios:
- Complete GTMs for KITTI 2015 disparity (1423 downloads )
- Complete GTMs for KITTI 2015 flow (1177 downloads )
- Complete GTMs for Oxford (1251 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1916 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1764 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (1284 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (1221 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1834 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (1289 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (1319 downloads )
GTMs for KITTI 2015 disparity dataset and no specif inlier ratios providing the highest number of matches and true negatives:
GTM for KITTI 2015 disparity with all available keypoints - no specific inlier ratio (1365 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (1286 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (1316 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (1268 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (1327 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1799 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (1205 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (1221 downloads )
GTMs for KITTI 2015 disparity dataset and no specif inlier ratios providing the highest number of matches and true negatives:
GTM for KITTI 2015 flow with all available keypoints - no specific inlier ratio (1296 downloads )GTMs for Oxford (Mikolajczyk et al.) dataset and various inlier ratios ranging from 1% to 100%:
- GTM for Oxford bark with all available keypoints (1835 downloads )
- GTM for Oxford bikes with all available keypoints (1795 downloads )
- GTM for Oxford boat with all available keypoints (1248 downloads )
- GTM for Oxford graffiti with all available keypoints (1330 downloads )
- GTM for Oxford JPEG with all available keypoints (1246 downloads )
- GTM for Oxford light with all available keypoints (1772 downloads )
- GTM for Oxford wall with all available keypoints (1289 downloads )
GTMs for Oxford (Mikolajczyk et al.) dataset and no specif inlier ratios providing the highest number of matches and true negatives:
- GTM for Oxford bark with all available keypoints - no specific inlier ratio (2241 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (3186 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1950 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (2351 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1952 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2881 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1832 downloads )