Pose Estimation of Household Objects Using RGB-D-NIR Camera

Muhammad Attamimi; Delonix Senjaya; Djoko Purwanto; Ditya Garda Nugraha

doi:10.1109/ISITIA59021.2023.10220998

Pose Estimation of Household Objects Using RGB-D-NIR Camera

Muhammad Attamimi
, Delonix Senjaya
, Djoko Purwanto
, Ditya Garda Nugraha

Institut Teknologi Sepuluh Nopember

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2023 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publication	Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	216-221
Number of pages	6
ISBN (Electronic)	9798350313956
DOIs	https://doi.org/10.1109/ISITIA59021.2023.10220998
Publication status	Published - 2023
Event	24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 - Hybrid, Surabaya, Indonesia Duration: 26 Jul 2023 → 27 Jul 2023

Publication series

Name	2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding

Conference

Conference	24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Country/Territory	Indonesia
City	Hybrid, Surabaya
Period	26/07/23 → 27/07/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

NIR camera
RGBD camera
household object
pose estimation

Access to Document

10.1109/ISITIA59021.2023.10220998

Cite this

Attamimi, M., Senjaya, D., Purwanto, D., & Nugraha, D. G. (2023). Pose Estimation of Household Objects Using RGB-D-NIR Camera. In 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding (pp. 216-221). (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISITIA59021.2023.10220998

Attamimi, Muhammad ; Senjaya, Delonix ; Purwanto, Djoko et al. / Pose Estimation of Household Objects Using RGB-D-NIR Camera. 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 216-221 (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding).

@inproceedings{aed83bc7013542e1a1e1e033b9f49e30,

title = "Pose Estimation of Household Objects Using RGB-D-NIR Camera",

abstract = "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.",

keywords = "NIR camera, RGBD camera, household object, pose estimation",

author = "Muhammad Attamimi and Delonix Senjaya and Djoko Purwanto and Nugraha, \{Ditya Garda\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 ; Conference date: 26-07-2023 Through 27-07-2023",

year = "2023",

doi = "10.1109/ISITIA59021.2023.10220998",

language = "English",

series = "2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2023 International Seminar on Intelligent Technology and Its Applications",

address = "United States",

}

Attamimi, M, Senjaya, D, Purwanto, D & Nugraha, DG 2023, Pose Estimation of Household Objects Using RGB-D-NIR Camera. in 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding, Institute of Electrical and Electronics Engineers Inc., pp. 216-221, 24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023, Hybrid, Surabaya, Indonesia, 26/07/23. https://doi.org/10.1109/ISITIA59021.2023.10220998

Pose Estimation of Household Objects Using RGB-D-NIR Camera. / Attamimi, Muhammad; Senjaya, Delonix; Purwanto, Djoko et al.
2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2023. p. 216-221 (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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.

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KW - RGBD camera

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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.

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Y2 - 26 July 2023 through 27 July 2023

ER -

Attamimi M, Senjaya D, Purwanto D, Nugraha DG. Pose Estimation of Household Objects Using RGB-D-NIR Camera. In 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. Institute of Electrical and Electronics Engineers Inc. 2023. p. 216-221. (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding). doi: 10.1109/ISITIA59021.2023.10220998

Pose Estimation of Household Objects Using RGB-D-NIR Camera

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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