The task of recognising an object and estimating its 6d pose in a scene has received considerable attention in recent years. The accessibility and low-cost of consumer RGB-D cameras, make object recognition and pose estimation feasible even for small industrial businesses. An example is the industrial assembly line, where a robotic arm should pick a small, textureless and mostly homogeneous object and place it in a designated location. Despite all the recent advancements of object recognition and pose estimation techniques in natural scenes, the problem remains challenging for industrial parts. In this paper, we present a framework to simultaneously recognise the object’s class and estimate its 6d pose from RGB-D data. The proposed model adapts a global approach, where an object and the Region of Interest (ROI) are first recognised from RGB images. The object’s pose is then estimated from the corresponding depth information. We train various classifiers based on extracted Histogram of Oriented Gradient (HOG) features to detect and recognize the objects. We then perform template matching on the point cloud based on surface normal and Fast Point Feature Histograms (FPFH) to estimate the pose of the object. Experimental results show that our system is quite efficient, accurate and robust to illumination and background changes, even for the challenging objects of Tless dataset.

Pressure injury (PI) is a major problem for patients that are bound to a wheelchair or bed, such as seniors or people with spinal cord injuries. This condition can be life threatening in its later stages. It can be very costly to the healthcare system as well. Fortunately with proper monitoring and assessment, PI development can be prevented. The major factor that causes PI is prolonged interface pressure between the body and the support surface. A possible solution to reduce the chance of developing PI is changing the patient’s in-bed pose at appropriate times. Monitoring in-bed pressure can help healthcare providers to locate high-pressure areas, and remove or minimize pressure on those regions. The current clinical method of interface pressure monitoring is limited by periodic snapshot assessments, without longitudinal measurements and analysis. In this paper we propose a pressure signal analysis pipeline to automatically eliminate external artefacts from pressure data, estimate a person’s pose, and locate and track high-risk regions over time so that necessary attention can be provided.