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 (2583 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 (887 downloads )
- Complete GTMs for KITTI 2015 flow (675 downloads )
- Complete GTMs for Oxford (723 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1356 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1246 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (773 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (717 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1318 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (785 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (814 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 (869 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (797 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (799 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (727 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (687 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1255 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (701 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (714 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 (787 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 (1331 downloads )
- GTM for Oxford bikes with all available keypoints (1287 downloads )
- GTM for Oxford boat with all available keypoints (712 downloads )
- GTM for Oxford graffiti with all available keypoints (809 downloads )
- GTM for Oxford JPEG with all available keypoints (703 downloads )
- GTM for Oxford light with all available keypoints (1281 downloads )
- GTM for Oxford wall with all available keypoints (674 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 (1668 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2618 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1396 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1787 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1406 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2320 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1313 downloads )