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 (854 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 (727 downloads)
- Complete GTMs for KITTI 2015 flow (556 downloads)
- Complete GTMs for Oxford (581 downloads)
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (521 downloads)
- GTM for KITTI 2015 disparity with KAZE keypoints (530 downloads)
- GTM for KITTI 2015 disparity with BRISK keypoints (541 downloads)
- GTM for KITTI 2015 disparity with FAST keypoints (522 downloads)
- GTM for KITTI 2015 disparity with MSD keypoints (495 downloads)
- GTM for KITTI 2015 disparity with ORB keypoints (530 downloads)
- GTM for KITTI 2015 disparity with SIFT keypoints (545 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 (514 downloads)GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (560 downloads)
- GTM for KITTI 2015 flow with KAZE keypoints (524 downloads)
- GTM for KITTI 2015 flow with BRISK keypoints (509 downloads)
- GTM for KITTI 2015 flow with FAST keypoints (517 downloads)
- GTM for KITTI 2015 flow with MSD keypoints (479 downloads)
- GTM for KITTI 2015 flow with ORB keypoints (502 downloads)
- GTM for KITTI 2015 flow with SIFT keypoints (517 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 (521 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 (553 downloads)
- GTM for Oxford bikes with all available keypoints (461 downloads)
- GTM for Oxford boat with all available keypoints (517 downloads)
- GTM for Oxford graffiti with all available keypoints (565 downloads)
- GTM for Oxford JPEG with all available keypoints (503 downloads)
- GTM for Oxford light with all available keypoints (550 downloads)
- GTM for Oxford wall with all available keypoints (522 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 (420 downloads)
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (407 downloads)
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (453 downloads)
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (605 downloads)
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (406 downloads)
- GTM for Oxford light with all available keypoints - no specific inlier ratio (411 downloads)
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (477 downloads)