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 (686 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 (436 downloads)
- Complete GTMs for KITTI 2015 flow (375 downloads)
- Complete GTMs for Oxford (412 downloads)
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (372 downloads)
- GTM for KITTI 2015 disparity with KAZE keypoints (351 downloads)
- GTM for KITTI 2015 disparity with BRISK keypoints (379 downloads)
- GTM for KITTI 2015 disparity with FAST keypoints (376 downloads)
- GTM for KITTI 2015 disparity with MSD keypoints (363 downloads)
- GTM for KITTI 2015 disparity with ORB keypoints (375 downloads)
- GTM for KITTI 2015 disparity with SIFT keypoints (388 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 (368 downloads)GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (399 downloads)
- GTM for KITTI 2015 flow with KAZE keypoints (354 downloads)
- GTM for KITTI 2015 flow with BRISK keypoints (364 downloads)
- GTM for KITTI 2015 flow with FAST keypoints (371 downloads)
- GTM for KITTI 2015 flow with MSD keypoints (350 downloads)
- GTM for KITTI 2015 flow with ORB keypoints (362 downloads)
- GTM for KITTI 2015 flow with SIFT keypoints (359 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 (355 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 (375 downloads)
- GTM for Oxford bikes with all available keypoints (335 downloads)
- GTM for Oxford boat with all available keypoints (350 downloads)
- GTM for Oxford graffiti with all available keypoints (393 downloads)
- GTM for Oxford JPEG with all available keypoints (354 downloads)
- GTM for Oxford light with all available keypoints (373 downloads)
- GTM for Oxford wall with all available keypoints (366 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 (290 downloads)
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (279 downloads)
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (328 downloads)
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (441 downloads)
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (283 downloads)
- GTM for Oxford light with all available keypoints - no specific inlier ratio (274 downloads)
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (337 downloads)