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 (2396 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 (672 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 (1293 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1198 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (751 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (708 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1243 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (758 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (785 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 (837 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (769 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (773 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (717 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (680 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1195 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (687 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (698 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 (755 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 (1284 downloads )
- GTM for Oxford bikes with all available keypoints (1223 downloads )
- GTM for Oxford boat with all available keypoints (701 downloads )
- GTM for Oxford graffiti with all available keypoints (791 downloads )
- GTM for Oxford JPEG with all available keypoints (698 downloads )
- GTM for Oxford light with all available keypoints (1224 downloads )
- GTM for Oxford wall with all available keypoints (669 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 (1471 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2330 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1274 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1646 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1261 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2065 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1226 downloads )