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 (1472 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 (860 downloads)
- Complete GTMs for KITTI 2015 flow (659 downloads)
- Complete GTMs for Oxford (706 downloads)
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (675 downloads)
- GTM for KITTI 2015 disparity with KAZE keypoints (653 downloads)
- GTM for KITTI 2015 disparity with BRISK keypoints (645 downloads)
- GTM for KITTI 2015 disparity with FAST keypoints (629 downloads)
- GTM for KITTI 2015 disparity with MSD keypoints (614 downloads)
- GTM for KITTI 2015 disparity with ORB keypoints (641 downloads)
- GTM for KITTI 2015 disparity with SIFT keypoints (682 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 (625 downloads)GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (667 downloads)
- GTM for KITTI 2015 flow with KAZE keypoints (657 downloads)
- GTM for KITTI 2015 flow with BRISK keypoints (628 downloads)
- GTM for KITTI 2015 flow with FAST keypoints (621 downloads)
- GTM for KITTI 2015 flow with MSD keypoints (601 downloads)
- GTM for KITTI 2015 flow with ORB keypoints (616 downloads)
- GTM for KITTI 2015 flow with SIFT keypoints (620 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 (633 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 (702 downloads)
- GTM for Oxford bikes with all available keypoints (585 downloads)
- GTM for Oxford boat with all available keypoints (628 downloads)
- GTM for Oxford graffiti with all available keypoints (683 downloads)
- GTM for Oxford JPEG with all available keypoints (607 downloads)
- GTM for Oxford light with all available keypoints (747 downloads)
- GTM for Oxford wall with all available keypoints (622 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 (655 downloads)
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (685 downloads)
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (656 downloads)
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (961 downloads)
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (591 downloads)
- GTM for Oxford light with all available keypoints - no specific inlier ratio (657 downloads)
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (624 downloads)