A Survey of Visual Affordance Recognition Based on Deep Learning

Dongpan Chen, Dehui Kong, Jinghua Li, Shaofan Wang, Baocai Yin

Abstract: Visual affordance recognition is an important research topic in robotics, human-computer interaction, and other computer vision tasks. In recent years, deep learning-based affordance recognition methods have achieved remarkable performance. However, there is no unified and intensive survey of these methods up to now. Therefore, this article reviews and investigates existing deep learning-based affordance recognition methods from a comprehensive perspective, hoping to pursue greater acceleration in this research domain. Specifically, this article first classifies affordance recognition into five tasks, delves into the methodologies of each task, and explores their rationales and essential relations. Second, several representative affordance recognition datasets are investigated carefully. Third, based on these datasets, this article provides a comprehensive performance comparison and analysis of the current affordance recognition methods, reporting the results of different methods on the same datasets and the results of each method on different datasets. Finally, this article summarizes the progress of affordance recognition, outlines the existing difficulties and provides corresponding solutions, and discusses its future application trends.