@UpUpAndAway taught me a good trick for incense in the home. Place a food heater under the incense holder. I use a little stand that holds a small candle, used to melt butter for lobster. I put the censer on top, and then some incense. The incense doesn’t burn, but the heat allows it to release its scent.
It’s more subtle than burning, but a lot less smoky. It helps to get the candle burning and censer heating a good 10 minutes before you plan on using it, to get it really hot. Then throw in some grains of your favourite incense about 5 minutes before you need it (I use it during Lauds and Vespers of Sundays, solemnities and major feasts).