TY - GEN
T1 - Pose Estimation of Household Objects Using RGB-D-NIR Camera
AU - Attamimi, Muhammad
AU - Senjaya, Delonix
AU - Purwanto, Djoko
AU - Nugraha, Ditya Garda
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Pose estimation is a technique used to predict the pose of an object, i.e., its orientation and its position. This technique is needed by the robot to pick up objects that are placed somewhere. In general, this technique is developed with visual input from a camera. The challenge that is usually faced in this technique is the lighting conditions that are not fixed, where the stability of the estimation results in this environment is highly expected. In this study, we first use an RGB-D-NIR camera to provide color (RGB), depth (D), and near-infrared (NIR) inputs which are expected to complement each other. Second, by utilizing data from the camera, we combine it with Guided Filtering Fusion and Deep learning methods. As a preliminary result of the study, we conducted experiments in normal and dark lightning conditions on household objects, with various input combinations; and obtained quite accurate results in dark conditions.
AB - Pose estimation is a technique used to predict the pose of an object, i.e., its orientation and its position. This technique is needed by the robot to pick up objects that are placed somewhere. In general, this technique is developed with visual input from a camera. The challenge that is usually faced in this technique is the lighting conditions that are not fixed, where the stability of the estimation results in this environment is highly expected. In this study, we first use an RGB-D-NIR camera to provide color (RGB), depth (D), and near-infrared (NIR) inputs which are expected to complement each other. Second, by utilizing data from the camera, we combine it with Guided Filtering Fusion and Deep learning methods. As a preliminary result of the study, we conducted experiments in normal and dark lightning conditions on household objects, with various input combinations; and obtained quite accurate results in dark conditions.
KW - NIR camera
KW - RGBD camera
KW - household object
KW - pose estimation
UR - http://www.scopus.com/inward/record.url?scp=85171187808&partnerID=8YFLogxK
U2 - 10.1109/ISITIA59021.2023.10220998
DO - 10.1109/ISITIA59021.2023.10220998
M3 - Conference contribution
AN - SCOPUS:85171187808
T3 - 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
SP - 216
EP - 221
BT - 2023 International Seminar on Intelligent Technology and Its Applications
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Y2 - 26 July 2023 through 27 July 2023
ER -
