Booster: a Benchmark for Depth from Images of Specular and Transparent Surfaces

Estimating depth from images nowadays yields outstanding results, both in terms of in-domain accuracy and generalization. However, we identify two main challenges that remain open in this field: dealing with non-Lambertian materials and effectively processing high-resolution images. Purposely, we propose a novel dataset that includes accurate and dense ground-truth labels at high resolution, featuring scenes containing several specular and transparent surfaces. Our acquisition pipeline leverages a novel deep space-time stereo framework, enabling easy and accurate labeling with sub-pixel precision. The dataset is composed of 606 samples collected in 85 different scenes, each sample includes both a high-resolution pair (12 Mpx) as well as an unbalanced stereo pair (Left: 12 Mpx, Right: 1.1 Mpx). Additionally, we provide manually annotated material segmentation masks and 15K unlabeled samples. We divide the dataset into a training set, and two testing sets, the latter devoted to the evaluation of stereo and monocular depth estimation networks respectively to highlight the open challenges and future research directions in this field.