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 (2713 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 (995 downloads )
- Complete GTMs for KITTI 2015 flow (766 downloads )
- Complete GTMs for Oxford (812 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1465 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1339 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (866 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (800 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1414 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (872 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (892 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 (956 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (885 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (885 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (832 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (786 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1355 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (793 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (803 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 (879 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 (1423 downloads )
- GTM for Oxford bikes with all available keypoints (1378 downloads )
- GTM for Oxford boat with all available keypoints (811 downloads )
- GTM for Oxford graffiti with all available keypoints (904 downloads )
- GTM for Oxford JPEG with all available keypoints (807 downloads )
- GTM for Oxford light with all available keypoints (1364 downloads )
- GTM for Oxford wall with all available keypoints (769 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 (1793 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2738 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1505 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1900 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1517 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2437 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1408 downloads )