High resolution pressure sensing using sub-pixel shifts on low resolution load-sensing tiles

Mihai Andries 1, 2, * François Charpillet 2 Olivier Simonin 3, 4, 5
* Corresponding author
2 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
3 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
CITI - CITI Centre of Innovation in Telecommunications and Integration of services, Inria Grenoble - Rhône-Alpes
Abstract : In ambient intelligence, pressure sensing can be used for detecting and recognizing objects based on their load profile. This paper presents a pressure scanning technique that improves weight-based object recognition, by adding information about the surface of the object in contact with the floor. The new high-resolution pressure scanning technique employs sub-pixel shifting to assemble a series of low-resolution scans into an aggregated high-resolution scan. The proposed scanning device is composed of 4 load-sensing tiles, on which the scanned object slides in regular movements. The result is a regular grid image of the object's contact surface, containing the weight of each section of the grid, as well as the corresponding centers of mass. A formal proof-of-concept is provided, together with experimental results obtained both on a noiseless simulated platform, and on a noisy physical platform.
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Mihai Andries, François Charpillet, Olivier Simonin. High resolution pressure sensing using sub-pixel shifts on low resolution load-sensing tiles. 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, United States. ⟨hal-01136255⟩

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