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 (2775 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 (1061 downloads )
- Complete GTMs for KITTI 2015 flow (820 downloads )
- Complete GTMs for Oxford (863 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1538 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1392 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (923 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (853 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1461 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (929 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (943 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 (1011 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (930 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (939 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (881 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (846 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1416 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (852 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (853 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 (932 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 (1474 downloads )
- GTM for Oxford bikes with all available keypoints (1436 downloads )
- GTM for Oxford boat with all available keypoints (874 downloads )
- GTM for Oxford graffiti with all available keypoints (959 downloads )
- GTM for Oxford JPEG with all available keypoints (869 downloads )
- GTM for Oxford light with all available keypoints (1421 downloads )
- GTM for Oxford wall with all available keypoints (821 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 (1861 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2793 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1560 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1959 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1568 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2494 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1461 downloads )