Thyrwyn
Explorer
"If neither side tries to be stealthy, they automatically notice each other." - pg 185 PHB
So no stealth rolls = no surprise
The rule does not say "if neither side makes a Stealth check." The party has effectively declared their intention to be stealthy when they decided to burst in before the occupants knew they were there. The onus is on the DM to decide if a Stealth check is needed. In this case, the OP decided it wasn't: he decided that the group inside the room hadn't noticed the party. Could he have called for Stealth check? Sure, but there is nothing wrong with deciding it isn't necessary, either. In effect, the DM decided the check succeeded. Kudos, I would have done so, too.
"We burst in and try to surprise them" should be enough to invoke the surprise rules. Since the DM has already decided that one side has not noticed the other, the DM has already decided that Surprise applies.