Automated surface inspection or processing of targets by a robot||Automated surface inspection or processing of targets by a robot

A method for automated surface inspection or processing of a target by a robot or automatic positioning devices, inter alia comprising: converting a 3D model of a surface mesh into a polygon mesh; computing a set of bounding boxes for each polygon face in the polygon mesh; providing, for each polygon face, a first list indicative of all polygon faces that are adjacent to each respective polygon face; projecting a centroid onto the surface mesh for each bounding box; providing, for each bounding box, a second list indicative of all projected centroids of bounding boxes; providing, for each pair of adjacent polygon faces, a third list indicative of N pairs of projected centroids, where N ≥ 1; providing an undirected graph; estimating robot cost for travelling along each edge in the undirected graph thereby; connecting all pairs of unconnected vertices in the weighted undirected graph with an edge and assign a robot cost for each such edge; and computing a path for surface inspection or processing of the target by processing the resulting weighted undirected complete graph so that: all vertices are visited only once, and the robot cost for visiting all vertices is minimized.