Skip to Main content Skip to Navigation
Conference papers

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
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
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.
Complete list of metadata

Cited literature [10 references]  Display  Hide  Download
Contributor : Mihai Andries Connect in order to contact the contributor
Submitted on : Friday, March 27, 2015 - 10:37:50 AM
Last modification on : Saturday, October 16, 2021 - 11:26:09 AM
Long-term archiving on: : Tuesday, April 18, 2017 - 12:38:32 AM




  • HAL Id : hal-01136255, version 1


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⟩



Record views


Files downloads