KCGS 2021, Got the Best Undergrad Paper Award
Abstracts
We present a robotic pen-drawing system that is capable of replicating images on a large-scale surface using TSP art. We use the Traveling Salesman Problem (TSP) to convert arbitrary input raster images into robot drawable vector images. Our robotic system relies on an industrial seven-degree-of-freedom (7DoF) manipulator that is placed on top of a holonomic mobile base robot. Our system uses the mobile base to draw the converted vector image on large surfaces. We demonstrate that our system can generate vector images for robotic drawing using weighted Voronoi Stippling and TSP Art to create pen art with a high replication rate on large surfaces.
System Overview
Drawing Results
Pen Drawing Results
Drawing Statistics
Heart | Character | Flower | |
---|---|---|---|
Canvas Size (m)
|
0.40 x 0.35 | 0.60 x 0.40 | 0.85 x 0.30 |
# of Points used for Stippling
|
34,849 | 31,151 | 95,155 |
TSP time |
6 min | 36 min | 97 min |
Drawing Time
|
120 min | 110 min | 585 min |
Contact
Ewha Computer Graphics Lab
Department of Computer Science & Engineering, Ewha Womans University
📍 52, Ewhayeodae-gil, Seodaemun-gu, Seoul, Korea, 03760
📞 +82-2-3277-6798
✉️ Eunjung Lim1, ejunglim12@ewhain.net
✉️ Jiyoon Park1, jiyoonpark13@ewhain.net
✉️ Daeun Song1, daeunsong@ewhain.net
✉️ Young J. Kim1, kimy@ewha.ac.kr
1 Ewha Womans University, Korea