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 (2610 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 (888 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 (1359 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1249 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (774 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (718 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1322 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (787 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (815 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 (871 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (798 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (800 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (728 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (687 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1260 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (703 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (716 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 (788 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 (1332 downloads )
- GTM for Oxford bikes with all available keypoints (1291 downloads )
- GTM for Oxford boat with all available keypoints (713 downloads )
- GTM for Oxford graffiti with all available keypoints (810 downloads )
- GTM for Oxford JPEG with all available keypoints (704 downloads )
- GTM for Oxford light with all available keypoints (1283 downloads )
- GTM for Oxford wall with all available keypoints (675 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 (1689 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2642 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1406 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1801 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1418 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2340 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1317 downloads )