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 (2454 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 (883 downloads )
- Complete GTMs for KITTI 2015 flow (673 downloads )
- Complete GTMs for Oxford (721 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1319 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1217 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (759 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (711 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1279 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (770 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (796 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 (851 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (778 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (783 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (722 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (682 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1223 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (691 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (704 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 (765 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 (1305 downloads )
- GTM for Oxford bikes with all available keypoints (1255 downloads )
- GTM for Oxford boat with all available keypoints (705 downloads )
- GTM for Oxford graffiti with all available keypoints (799 downloads )
- GTM for Oxford JPEG with all available keypoints (700 downloads )
- GTM for Oxford light with all available keypoints (1250 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 (1535 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2416 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1327 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1694 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1315 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2142 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1265 downloads )