For sensing a control point on a capacitive-type panel, first and second voltage signals are respectively received through two sets of receiving lines selected from N receiving lines in response to first and second charge/discharge signals transmitted through two sets of transmitting lines selected from M transmitting lines, respectively, during a first time period. Third and fourth voltage signals are received through two sets of receiving lines selected from the N receiving lines in response to third and fourth charge/discharge signals respectively transmitted through the two sets of transmitting lines, respectively, during a second time period. A characteristic value is generated according to the first, second, third and fourth voltage signals. Repeat the steps to generate characteristic values for neighboring regions defined by different combinations of transmitting lines and receiving lines. Position information of control point(s) on the capacitive-type panel is estimated accordingly.