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 (1538 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 (862 downloads)
- Complete GTMs for KITTI 2015 flow (661 downloads)
- Complete GTMs for Oxford (708 downloads)
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (688 downloads)
- GTM for KITTI 2015 disparity with KAZE keypoints (665 downloads)
- GTM for KITTI 2015 disparity with BRISK keypoints (652 downloads)
- GTM for KITTI 2015 disparity with FAST keypoints (636 downloads)
- GTM for KITTI 2015 disparity with MSD keypoints (631 downloads)
- GTM for KITTI 2015 disparity with ORB keypoints (648 downloads)
- GTM for KITTI 2015 disparity with SIFT keypoints (690 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 (632 downloads)GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (674 downloads)
- GTM for KITTI 2015 flow with KAZE keypoints (665 downloads)
- GTM for KITTI 2015 flow with BRISK keypoints (635 downloads)
- GTM for KITTI 2015 flow with FAST keypoints (626 downloads)
- GTM for KITTI 2015 flow with MSD keypoints (614 downloads)
- GTM for KITTI 2015 flow with ORB keypoints (622 downloads)
- GTM for KITTI 2015 flow with SIFT keypoints (627 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 (640 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 (714 downloads)
- GTM for Oxford bikes with all available keypoints (596 downloads)
- GTM for Oxford boat with all available keypoints (636 downloads)
- GTM for Oxford graffiti with all available keypoints (690 downloads)
- GTM for Oxford JPEG with all available keypoints (614 downloads)
- GTM for Oxford light with all available keypoints (764 downloads)
- GTM for Oxford wall with all available keypoints (625 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 (710 downloads)
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (793 downloads)
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (677 downloads)
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (996 downloads)
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (620 downloads)
- GTM for Oxford light with all available keypoints - no specific inlier ratio (726 downloads)
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (642 downloads)