HRI

The HRI Dataset comprises a total of 3,200 image pairs. Each image pair comprises a clean background image, a depth image, a rain layer mask image, and a rainy image. It contains three scenes: lane, citystreet and japanesestreet, with image resolutions of $2048\times1024$. The lane scene contains 1,600 image pairs, consisting of images from 4 camera viewpoints, each viewpoint containing 100 images of different moments, and each moment containing 4 different intensities of rainy scenes. The citystreet scene contains 600 image pairs, consisting of images from 6 camera viewpoints, each viewpoint containing 25 images of different moments, and each moment containing 4 different intensities of rainy scenes. The japanesestreet scene contains 1,000 image pairs, consisting of images from 10 camera viewpoints, each viewpoint containing 25 images of different moments, and each moment containing 4 different intensities of rainy scenes.

We split the HRI dataset into training set and test set according to camera viewpoints. For the lane scene, the training set contains images from 3 camera viewpoints, and the test set contains images from 1 camera viewpoint. For the citystreet scene, the training set contains images from 5 camera viewpoints, and the test set contains images from 1 camera viewpoint. For the japanesestreet scene, the training set contains images from 8 camera viewpoints, and the test set contains images from 2 camera viewpoints. Therefore, the training set comprises a total of 2,500 image pairs, and the test set comprises a total of 700 image pairs.