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 (2402 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 (881 downloads )
- Complete GTMs for KITTI 2015 flow (672 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 (1296 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1201 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (753 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (708 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1245 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (760 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (787 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 (839 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (771 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (775 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (717 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (680 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1197 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (687 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (698 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 (757 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 (1287 downloads )
- GTM for Oxford bikes with all available keypoints (1228 downloads )
- GTM for Oxford boat with all available keypoints (701 downloads )
- GTM for Oxford graffiti with all available keypoints (792 downloads )
- GTM for Oxford JPEG with all available keypoints (698 downloads )
- GTM for Oxford light with all available keypoints (1229 downloads )
- GTM for Oxford wall with all available keypoints (669 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 (1477 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2340 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1276 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1650 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1264 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2072 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1229 downloads )