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 (2024 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 (877 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 (987 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (936 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (718 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (687 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (922 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (726 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (760 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 (739 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (741 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (740 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (690 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (666 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (888 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (664 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (677 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 (719 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 (1013 downloads )
- GTM for Oxford bikes with all available keypoints (887 downloads )
- GTM for Oxford boat with all available keypoints (680 downloads )
- GTM for Oxford graffiti with all available keypoints (760 downloads )
- GTM for Oxford JPEG with all available keypoints (665 downloads )
- GTM for Oxford light with all available keypoints (983 downloads )
- GTM for Oxford wall with all available keypoints (655 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 (1141 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (1854 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (993 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1364 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (953 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (1608 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (924 downloads )