Putting Humans in a Scene: Learning Affordance in 3D Indoor Environments
This work addresses the challenge of understanding human-scene interactions for applications in robotics and virtual reality, representing an incremental advancement in affordance modeling.
The paper tackles the problem of predicting affordances in 3D indoor scenes by determining what human poses are possible, such as sitting or standing, and introduces a method that outperforms existing state-of-the-art approaches.
Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or standing on the floor. In order to predict valid affordances and learn possible 3D human poses in indoor scenes, we need to understand the semantic and geometric structure of a scene as well as its potential interactions with a human. To learn such a model, a large-scale dataset of 3D indoor affordances is required. In this work, we build a fully automatic 3D pose synthesizer that fuses semantic knowledge from a large number of 2D poses extracted from TV shows as well as 3D geometric knowledge from voxel representations of indoor scenes. With the data created by the synthesizer, we introduce a 3D pose generative model to predict semantically plausible and physically feasible human poses within a given scene (provided as a single RGB, RGB-D, or depth image). We demonstrate that our human affordance prediction method consistently outperforms existing state-of-the-art methods.