Crevice detection

A method of detecting concave features, such as crevices, in the surface of an object to be cleaned comprising receiving point cloud data of the object, and identifying points having a local curvature below a predetermined curvature threshold. The local curvature may be determined to be concave when the average distance between the tangent plane defined by the normal to the point and k-nearest neighbours is positive. The curvature threshold may be determined based on one of: the geometry of the tool, the nature of the task to be completed, or the nature of the surface. A toolpath may be created based on the identified concave features by generating a representation of the surface. The surface representation may be based on a CAD representation of the object or a point cloud. An input generation tool may transmit the representation to a computer.