The　interaction　properties　between　actors　and　the　surrounding　environment　are　studied　by　Affordance　understanding　based　on　computer　vision,　which　is　significant　in　the　fields　of　robot　navigation　and　grasping.　Therefore,　the　current　research　status　of　computer　vision-based　Affordance　understanding　was　comprehensively　reviewed.　First,　the　methods　proposed　in　recent　years　were　classified　according　to　the　research　direction,　and　the　ideas　and　characteristics　of　different　methods　were　synthesized.　Then,　several　public　datasets　were　introduced,　and　the　performance　of　different　methods　on　these　datasets　was　comparatively　analyzed.　Finally,　the　advantages　and　disadvantages　of　various　methods　in　computer　vision-based　Affordance　understanding　and　future　development　trends　were　expounded.　©　2024　Beijing　University　of　Technology.　All　rights　reserved.