Separate touching items. Keep the batch still during scanning.
One spatial identity per item keeps repeat views from adding counts.
Check missed objects and uncertain matches before accepting a batch.
A handheld recycling counter you can demonstrate
The operator holds a single enclosure containing a camera, Jetson computer, screen and battery. As they move around a stationary batch, the camera sees new sides. The screen groups detected items into plastic bottles, cans, glass bottles, foam pieces and cartons.
Why spreading the pile matters
The green viewing rays are a schematic aiming aid, not a calibrated camera frustum. The demo uses actual 3D lines of sight to test synthetic sample points on each object. Walking reveals some obscured items. Spreading the batch reduces occlusion further. When the arrangement changes, the count resets so the next scan represents the new layout.
What “Styrofoam” means here
The foam class represents EPS foam pieces such as packaging and cups. Count one separated piece as one item. A camera cannot certify polymer chemistry or local recycling eligibility; foam may be accepted by weight, volume or at specific facilities.
Build the real model
Label your own recycling images with individual masks in Roboflow or another annotation tool. Keep training and test batches separate. Validate per-class count error and identity switches across handheld videos. Add a “needs review” state when a track is uncertain. Start with one spread-out tray and one approved overhead photo before attempting free-moving spatial counting.
All inside one housing
Concept enclosure: approximately 220 × 140 × 85 mm, plus a grip. This is a packaging target, not a verified mechanical fit. A compact carrier is needed for a refined handheld product; check the complete board, connectors, heatsink, battery and cable bend space in CAD.
| Part | Connection / purpose |
|---|---|
| RGB camera | Supported CSI module and matching cable, or USB camera → Jetson. Forward/downward view. |
| Depth + IMU option | Supported USB sensor → Jetson. Calibrated pose/depth aid spatial matching. Verify runtime and drivers. |
| Touchscreen | Compatible display interface plus USB touch → carrier. Adapter may be required. |
| Power | Protected pack → fuse near pack → switch → regulated supply → exact carrier DC input. |
| Cooling | Heatsink + fan with unobstructed inlet and outlet; isolate warm hardware from the hand. |
| Storage | Supported SSD / microSD stores model, batch records and optional review images. |
Handheld design details
Put the battery low and near the grip for balance. Add a wrist strap, recessed camera window, removable service cover, clear fan vents and a thumb trigger. Keep screen glare low. Measure mass, grip comfort, surface temperature and runtime on the assembled prototype.
NVIDIA Orin Nano hardware layout · Supported hardware · Find Xavier NX carrier documentation
Planning bill of materials · CAD
Editable allowances, not supplier quotes. One of each. Excludes labour, tax, shipping and model/software fees. Mass values are placeholders for packaging estimates.
| Component | CAD | Grams |
|---|