If you were to split each read into its overlapping k-mer (with a step
size of 1), which would give you l-k+1 k-mer (where l is the length of
the read), and then mapped those k-mer to the contigs, the k-mer
coverage of a contig is the number of k-mer that map (with perfect
identity) to that contig.
Cheers,
Shaun