We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the stroke sequence should also exhibit a human artist's planning process. Thus, when a robot executes the drawing task, both the drawing results and the way the robot executes would look artistic. Our SBR system is based on image segmentation and depth estimation. It generates the drawing strokes in an order that allows for the intended shape to be perceived quickly and for its detailed features to be filled in and emerge gradually when observed by the human. This ordering represents a stroke plan that the drawing robot should follow to create an artistic rendering of images. We experimentally demonstrate that our SBR-based drawing makes visually pleasing artistic images, and our robotic system can replicate the result with proper sequences of stroke drawing.

翻译：我们提出一种基于笔触渲染（SBR）的新型机器人绘画系统。我们的出发点是追求整个表演过程的美学品质——不仅要求最终画作中生成的笔触能准确还原输入图像，更要求笔触序列能展现人类画家的规划过程。因此，当机器人执行绘画任务时，绘画结果与执行方式均应呈现艺术性。该系统基于图像分割与深度估计技术，按特定顺序生成绘画笔触：使观察者能快速感知预期形状，同时逐步补充细节特征并渐进浮现。这种排序构成了绘画机器人应遵循的笔触规划，以实现对图像的艺术化呈现。实验表明，基于笔触渲染的绘画能生成视觉愉悦的艺术图像，而我们的机器人系统可通过合理的笔触绘制序列完整复现该结果。