  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.
