Question about a messy husband?

So I'm lucky enough to be a stay-at-home mom. We have 2 kids, an 11 year old and a 9 month old. My hubby works full time, while I stay home with the girls. I don't mind doing most of the house work, it only seems fair, really. But here's the thing: I love him, but he's a SLOB. I mean, he gets a gl of milk and leaves it sitting on the floor, finishes his plate and leaves it on the table, his clothes fall to the ground wherever he changes, his towels go on the ground...dirty work boots in the middle of the living room floor. String cheese wrappers lying on the ground where the baby could get them and choke.... Soda cans EVERYWHERE... Cereal containers left open on the counter with cereal crumbs fallen all over.... OMG, I'm going crazy here. I'm not an uptight neat freak or anything, but this is just too much to take! I've asked him so many times, joked about it, yelled about it, gone on strike (which I can't really do anymore because with the baby, things just have to get picked up). I've even tried rehanging up his dirty clothes and laughingly telling him that since they weren't in a dirty clothes hamper, I just umed they must still be clean. His only "set" chore is to take out the trash and he doesn't even do that with out being reminded at least twice. He will laugh and acknowledge his "forgetfulness" as he calls it, but it never gets better. I'm at my wits end... what can I do to get him to pick up after himself?