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 (2613 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 (890 downloads )
- Complete GTMs for KITTI 2015 flow (676 downloads )
- Complete GTMs for Oxford (723 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (1360 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (1251 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (775 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (719 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (1325 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (788 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (817 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 (875 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (800 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (801 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (730 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (689 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (1263 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (708 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (718 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 (791 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 (1335 downloads )
- GTM for Oxford bikes with all available keypoints (1294 downloads )
- GTM for Oxford boat with all available keypoints (714 downloads )
- GTM for Oxford graffiti with all available keypoints (813 downloads )
- GTM for Oxford JPEG with all available keypoints (706 downloads )
- GTM for Oxford light with all available keypoints (1284 downloads )
- GTM for Oxford wall with all available keypoints (676 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 (1691 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (2644 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (1410 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1805 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (1421 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (2344 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (1322 downloads )