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 (2349 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 (671 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 (1268 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1158 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (744 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (707 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1220 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (753 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (783 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 (826 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (765 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (768 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (714 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (679 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1167 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (685 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (695 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 (751 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 (1261 downloads )
- GTM for Oxford bikes with all available keypoints (1202 downloads )
- GTM for Oxford boat with all available keypoints (698 downloads )
- GTM for Oxford graffiti with all available keypoints (788 downloads )
- GTM for Oxford JPEG with all available keypoints (692 downloads )
- GTM for Oxford light with all available keypoints (1194 downloads )
- GTM for Oxford wall with all available keypoints (668 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 (1428 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2257 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1243 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1608 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1226 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2002 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1198 downloads )