arXiv:2511.20853

MODEST

Multi-Optics Depth-of-Field Stereo Dataset

Nisarg K. Trivedi, Vinayak A. Belludi, Li-Yun Wang, Pardis Taghavi, Dante Lok

The first high-resolution (5472×3648px) stereo DSLR dataset with 18,000 images, systematically varying focal length and aperture across complex real scenes. Captured with two identical Canon 6D camera assemblies at 10 focal lengths (28-70mm) and 5 apertures (f/2.8-f/22), spanning 50 optical configurations across 9 diverse scenes.

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Dataset Comparison

Stereo Dataset and Depth-model Evaluation

Dataset	Capture Setup	Real/Syn	Resolution	Focal Var.	Aperture Var.	Light Var.	Depth Range	Calib.
KITTI ('12)	Stereo RGB + LiDAR	Real	1242 × 375	✗	✗	✓	0.5m - 80m	✗
NYU Depth V2 ('12)	Mono RGB-D (Kinect v1)	Real	640 × 480	✗	✗	✗	0.5m - 10m	✗
TUM RGB-D ('12)	Mono RGB-D (Kinect v1)	Real	640 × 480	✗	✗	✗	0.5m - 5m	✗
vKITTI ('16)	Virtual stereo (Unity)	Synthetic	1242 × 375	✗	✗	✓	0.5m - 100m	✗
ScanNet ('17)	Mono RGB-D (iPad)	Real	640-1296 × 480-968	✗	✗	✗	0.2m - 10m	✗
Matterport3D ('17)	Multi-cam (360° RGB-D)	Real	1280 × 1024	✗	✗	✓	0.2m - 20m	✗
iBims-1 ('18)	Mono RGB (DSLR)	Real	640-1500 × 480-1000	✗	✗	✗	0.5m - 10m	✗
VOID ('20)	Mono RGB-D (RealSense)	Real	640 × 480	✓	✗	✓	50m	✗
DIML outdoor ('20)	Stereo RGB (ZED)	Real	1920 × 1080	✗	✗	✓	0.5m - 100m	✗
HAMMER ('22)	Multi-cam (RGB-P + ToF)	Real	1280 × 720	✗	✗	✗	10m	✗
ScanNet++ ('24)	Mono RGB-D (iPad)	Real	1920 × 1440	✗	✗	✗	0.2m - 20m	✗
MODEST ('25)	Stereo RGB (Canon 6D)	Real	5472 × 3648	✓	✓	✓	0.5m - 10m	✓

Multi-view Stereo

Dataset	Capture Setup	Real/Syn	Resolution	Focal Var.	Aperture Var.	Light Var.	Depth Range	Calib.
ETH3D ('17)	Multi-cam (DSLR + LiDAR)	Real	2048 × 1536	✗	✗	✓	0.5m - 50m	✗
Replica ('19)	Mono RGB (DSLR + LiDAR)	Synthetic	1080 × 1080	✗	✗	✗	0.1m - 10m	✗
DDAD ('20)	Multi-cam (shutter + LiDAR)	Real	1600 × 900	✗	✗	✓	0.5m - 100m	✗
MODEST ('25)	Stereo RGB (Canon 6D)	Real	5472 × 3648	✓	✓	✓	0.5m - 10m	✓

3D Static and Dynamic Scene Generation

Dataset	Capture Setup	Real/Syn	Resolution	Focal Var.	Aperture Var.	Light Var.	Depth Range	Calib.
Sintel ('12)	Synthetic (3D film)	Synthetic	1024 × 436	✗	✗	✓	0m - 80m	✗
DIODE ('19)	Mono RGB-D (FARO Focus)	Real	1024 × 768	✗	✗	✓	0.5m - 350m	✗
MODEST ('25)	Stereo RGB (Canon 6D)	Real	5472 × 3648	✓	✓	✓	0.5m - 10m	✓

Shallow Depth-of-Field Rendering

Dataset	Capture Setup	Real/Syn	Resolution	Focal Var.	Aperture Var.	Light Var.	Depth Range	Calib.
DPDD ('19)	Mono RGB	Real	1680 × 1120	✗	✗	✓	0.3m - 10m	✗
BLB ('22)	Synthetic (Blender)	Synthetic	1920 × 1080	✗	✓	✓	0.5m - 10m	✗
VABD ('24)	Mono RGB	Real	1536 × 1024	✗	✓	✓	N/A	✗
MODEST ('25)	Stereo RGB (Canon 6D)	Real	5472 × 3648	✓	✓	✓	0.5m - 10m	✓

Optical Illusions

Dataset	Capture Setup	Real/Syn	Resolution	Focal Var.	Aperture Var.	Light Var.	Depth Range	Calib.
3D-Visual-Illusion ('25)	Stereo RGB + LiDAR	Real + Syn	1080 × 1920	N/A	N/A	✓	0.5m - 50m	✗
MODEST ('25)	Stereo RGB (Canon 6D)	Real	5472 × 3648	✓	✓	✓	0.5m - 10m	✓

Visualizations & Results

Dataset Overview

Click image to view in full resolution

Depth Estimation Results

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Aperture Analysis

Analysis of different aperture values and their impact on depth of field

Bokeh & Defocus Blur Analysis

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Deblurring Results

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Visual Illusions

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Challenging visual illusions included in the dataset to test algorithm robustness

3D Scene Reconstruction - COLMAP & OpenMVS

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3D Gaussian Splatting

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Novel view synthesis using 3D Gaussian Splatting on MODEST dataset

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Dataset Structure

MODEST/
├── Global_calibration_set/
│   ├── EOS6D_A_Left/
│   │   └── fl_<focal_length>/
│   │       ├── calibration/
│   │       │   └── rectified/
│   │       └── inference/
│   ├── EOS6D_B_Right/
│   │   └── fl_<focal_length>/
│   │       ├── calibration/
│   │       │   └── rectified/
│   │       └── inference/
│   └── stereocal_rectified_calibration_<focal_length>/
│
├── Scene<id>/
│   ├── EOS6D_A_<Left|Right>/
│   │   └── fl_<focal_length>/
│   │       ├── calibration/
│   │       │   └── rectified/
│   │       └── inference/
│   │           ├── F<aperture>/
│   │           └── rectified/
│   │          
│   │
│   └── EOS6D_B_<Left|Right>/
│       └── fl_<focal_length>/
│           ├── calibration/
│           │   └── rectified/
│           └── inference/
│               ├── F<aperture>/
│               └── rectified/
│
└── ...

Notes

<focal_length> ∈ {28mm, 32mm, 36mm, 40mm, 45mm, 50mm, 55mm, 60mm, 65mm, 70mm}
<aperture> ∈ {F2.8, F5.0, F9.0, F16.0, F22.0}
Scene<id> spans multiple scenes captured under identical optical configurations

Dataset Statistics

Total Images18,000
Resolution5472 × 3648px
Scenes9 indoor environments
Focal Lengths10 (28mm - 70mm)
Apertures5 (f/2.8 - f/22)
CameraCanon 6D DSLR
Depth Range0.5m - 10m

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