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 (3405 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 (1660 downloads )
- Complete GTMs for KITTI 2015 flow (1404 downloads )
- Complete GTMs for Oxford (1461 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (2130 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1974 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (1493 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (1446 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (2042 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (1510 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (1527 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 (1563 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (1507 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (1517 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (1475 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (1601 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (2021 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (1415 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (1437 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 (1493 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 (2052 downloads )
- GTM for Oxford bikes with all available keypoints (2004 downloads )
- GTM for Oxford boat with all available keypoints (1481 downloads )
- GTM for Oxford graffiti with all available keypoints (1563 downloads )
- GTM for Oxford JPEG with all available keypoints (1466 downloads )
- GTM for Oxford light with all available keypoints (1978 downloads )
- GTM for Oxford wall with all available keypoints (1571 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 (2454 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (3408 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (2169 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (2571 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (2172 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (3110 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (2026 downloads )