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 (2021 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 (877 downloads )
- Complete GTMs for KITTI 2015 flow (671 downloads )
- Complete GTMs for Oxford (719 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (983 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (928 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (716 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (685 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (922 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (724 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (759 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 (733 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (740 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (738 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (688 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (666 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (885 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (661 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (677 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 (717 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 (1011 downloads )
- GTM for Oxford bikes with all available keypoints (882 downloads )
- GTM for Oxford boat with all available keypoints (677 downloads )
- GTM for Oxford graffiti with all available keypoints (759 downloads )
- GTM for Oxford JPEG with all available keypoints (663 downloads )
- GTM for Oxford light with all available keypoints (982 downloads )
- GTM for Oxford wall with all available keypoints (654 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 (1137 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (1844 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (990 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1362 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (947 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (1596 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (921 downloads )