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 (1495 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 (861 downloads)
- Complete GTMs for KITTI 2015 flow (660 downloads)
- Complete GTMs for Oxford (707 downloads)
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (680 downloads)
- GTM for KITTI 2015 disparity with KAZE keypoints (657 downloads)
- GTM for KITTI 2015 disparity with BRISK keypoints (648 downloads)
- GTM for KITTI 2015 disparity with FAST keypoints (632 downloads)
- GTM for KITTI 2015 disparity with MSD keypoints (622 downloads)
- GTM for KITTI 2015 disparity with ORB keypoints (644 downloads)
- GTM for KITTI 2015 disparity with SIFT keypoints (686 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 (628 downloads)GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (670 downloads)
- GTM for KITTI 2015 flow with KAZE keypoints (661 downloads)
- GTM for KITTI 2015 flow with BRISK keypoints (631 downloads)
- GTM for KITTI 2015 flow with FAST keypoints (624 downloads)
- GTM for KITTI 2015 flow with MSD keypoints (606 downloads)
- GTM for KITTI 2015 flow with ORB keypoints (618 downloads)
- GTM for KITTI 2015 flow with SIFT keypoints (623 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 (636 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 (707 downloads)
- GTM for Oxford bikes with all available keypoints (590 downloads)
- GTM for Oxford boat with all available keypoints (632 downloads)
- GTM for Oxford graffiti with all available keypoints (686 downloads)
- GTM for Oxford JPEG with all available keypoints (610 downloads)
- GTM for Oxford light with all available keypoints (756 downloads)
- GTM for Oxford wall with all available keypoints (623 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 (677 downloads)
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (747 downloads)
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (668 downloads)
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (972 downloads)
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (598 downloads)
- GTM for Oxford light with all available keypoints - no specific inlier ratio (680 downloads)
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (628 downloads)