This paper presents a robotic system (\textit{Chitrakar}) which autonomously converts any image of a human face to a recognizable non-self-intersecting loop (Jordan Curve) and draws it on any planar surface. The image is processed using Mask R-CNN for instance segmentation, Laplacian of Gaussian (LoG) for feature enhancement and intensity-based probabilistic stippling for the image to points conversion. These points are treated as a destination for a travelling salesman and are connected with an optimal path which is calculated heuristically by minimizing the total distance to be travelled. This path is converted to a Jordan Curve in feasible time by removing intersections using a combination of image processing, 2-opt, and Bresenham's Algorithm. The robotic system generates $n$ instances of each image for human aesthetic judgement, out of which the most appealing instance is selected for the final drawing. The drawing is executed carefully by the robot's arm using trapezoidal velocity profiles for jerk-free and fast motion. The drawing, with a decent resolution, can be completed in less than 30 minutes which is impossible to do by hand. This work demonstrates the use of robotics to augment humans in executing difficult craft-work instead of replacing them altogether.

中文翻译：

---

Chitrakar：用于绘制面部肖像的Jordan曲线的机器人系统

本文提出了一种机器人系统（\ textit {Chitrakar}），该系统可以自动将人脸的任何图像转换为可识别的非自相交环（乔丹曲线），并将其绘制在任何平面上。使用蒙版R-CNN对图像进行实例分割，对高斯的拉普拉斯算子（LoG）进行特征增强，并使用基于强度的概率点画法对图像进行点到点转换。这些点被视为旅行推销员的目的地，并且与最佳路径相关联，该最佳路径通过最小化要旅行的总距离来进行启发式计算。通过使用图像处理，2-opt和Bresenham算法的组合来消除交点，可以在可行的时间内将此路径转换为约旦曲线。机器人系统会为每个图像生成$ n $个实例，供人类进行审美判断，从中选择最具吸引力的实例作为最终图纸。机器人手臂使用梯形速度曲线仔细地执行绘图，以确保无晃动和快速运动。具有良好分辨率的绘图可以在不到30分钟的时间内完成，这是无法手动完成的。这项工作演示了使用机器人技术来增强人类在执行困难的手工艺品中的应用，而不是完全取代它们。