Vision-Based Dirt Detection and Adaptive Tiling Scheme for Selective Area Coverage

Algorithm 1

Adaptive tiling scheme.

1. Let is the total number of rows and column partially and fully reside into the dirt area

2. Compute the number of adjacent rows required to split as M/4 rows.

   ; ;

   //where is the total number of rows in the dirt area includes adjacent rows .

3. For

   {

        =load number of column partially or fully reside into the grid

       If ; // grid tile by group of 4 × 4 clustered patterns.

       {

          ; //number of 4 × 4 clustered pattern required for cover the; grid

       }

       else; // grid is tile by group of 4 × 4 clustered patterns and one _pattern

       {.

          ; //compute number 4 × 4 clustered pattern required to cover the blocks

          ; //find the one clustered pattern

          }

   }