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 (1874 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 (883 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (832 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (692 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (665 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (829 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (703 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (736 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 (692 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (724 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (720 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (672 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (648 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (794 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (646 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (661 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 (698 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 (920 downloads )
- GTM for Oxford bikes with all available keypoints (787 downloads )
- GTM for Oxford boat with all available keypoints (661 downloads )
- GTM for Oxford graffiti with all available keypoints (737 downloads )
- GTM for Oxford JPEG with all available keypoints (652 downloads )
- GTM for Oxford light with all available keypoints (911 downloads )
- GTM for Oxford wall with all available keypoints (646 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 (1016 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (1561 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (884 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1266 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (835 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (1369 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (822 downloads )