  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.
