Research Article
Vision-Based Dirt Detection and Adaptive Tiling Scheme for Selective Area Coverage
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 | | } | } |
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