how to work with 2d maps? [closed]

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Hi Guys,

referring to this question http://answers.ros.org/question/66146/complete-coverage-path-planner/ I'm trying to create a complete coverage path planner and I was wondering which is the best way to work with a map. What I want to do is divide and create a list of possible area bigger as the robot that will be sorted to be visited at least one time. The first step I will try to do is "convert" the .png in a xy graph, then group this point in the graph in various tiles. What I will ask is, if is better to convert the .png image in this kind of graph or remain in the .png format and create the list of tiles from there.

thanks guys