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 (2458 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 (884 downloads )
- Complete GTMs for KITTI 2015 flow (673 downloads )
- Complete GTMs for Oxford (722 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1324 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1221 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (760 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (712 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1282 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (773 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (798 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 (852 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (780 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (784 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (724 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (683 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1225 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (692 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (705 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 (767 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 (1306 downloads )
- GTM for Oxford bikes with all available keypoints (1257 downloads )
- GTM for Oxford boat with all available keypoints (706 downloads )
- GTM for Oxford graffiti with all available keypoints (802 downloads )
- GTM for Oxford JPEG with all available keypoints (700 downloads )
- GTM for Oxford light with all available keypoints (1252 downloads )
- GTM for Oxford wall with all available keypoints (671 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 (1539 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2420 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1331 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1699 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1320 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2147 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1267 downloads )