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 (1739 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 (865 downloads )
- Complete GTMs for KITTI 2015 flow (663 downloads )
- Complete GTMs for Oxford (710 downloads )
GTMs for KITTI 2015 disparity dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 disparity with AKAZE keypoints (849 downloads )
- GTM for KITTI 2015 disparity with KAZE keypoints (801 downloads )
- GTM for KITTI 2015 disparity with BRISK keypoints (668 downloads )
- GTM for KITTI 2015 disparity with FAST keypoints (645 downloads )
- GTM for KITTI 2015 disparity with MSD keypoints (788 downloads )
- GTM for KITTI 2015 disparity with ORB keypoints (665 downloads )
- GTM for KITTI 2015 disparity with SIFT keypoints (708 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 (655 downloads )GTMs for KITTI 2015 flow dataset and various inlier ratios ranging from 1% to 100%:
- GTM for KITTI 2015 flow with AKAZE keypoints (689 downloads )
- GTM for KITTI 2015 flow with KAZE keypoints (680 downloads )
- GTM for KITTI 2015 flow with BRISK keypoints (645 downloads )
- GTM for KITTI 2015 flow with FAST keypoints (629 downloads )
- GTM for KITTI 2015 flow with MSD keypoints (757 downloads )
- GTM for KITTI 2015 flow with ORB keypoints (632 downloads )
- GTM for KITTI 2015 flow with SIFT keypoints (637 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 (657 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 (881 downloads )
- GTM for Oxford bikes with all available keypoints (747 downloads )
- GTM for Oxford boat with all available keypoints (645 downloads )
- GTM for Oxford graffiti with all available keypoints (704 downloads )
- GTM for Oxford JPEG with all available keypoints (626 downloads )
- GTM for Oxford light with all available keypoints (874 downloads )
- GTM for Oxford wall with all available keypoints (627 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 (907 downloads )
- GTM for Oxford bikes with all available keypoints - no specific inlier ratio (1214 downloads )
- GTM for Oxford boat with all available keypoints - no specific inlier ratio (827 downloads )
- GTM for Oxford graffiti with all available keypoints - no specific inlier ratio (1174 downloads )
- GTM for Oxford JPEG with all available keypoints - no specific inlier ratio (756 downloads )
- GTM for Oxford light with all available keypoints - no specific inlier ratio (1089 downloads )
- GTM for Oxford wall with all available keypoints - no specific inlier ratio (784 downloads )