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

Table 1

Dirt detection ratio (α) on different floor background.

Objects	Surface-1	Surface-2	Surface-3	Max variation (%)
Clean	0.0018	0.0004	0.0003	0.76
Tea grain	0.87	0.71	0.92	21
Stains	0.44	0.31	0.31	13
Paper snippets	0.28	0.29	0.24	05
Flower petals	0.28	0.44	0.39	16