A Robot Portraits Pencil Sketching Algorithm Based on Face Component and Texture Segmentation

As researches on robots and robotic arms going further, human portrait painting robot appears as a typical art creation application. Traditional ways to achieve this goal mainly depend on the geometric and texture features with no semantic information. In this system, to enrich the portrait, key points of human faces are fused with gray scale information. During the process of drawing, different components of the portrait can be distinguished such as hair or eyes by strokes. Besides, sketch pattern is added to line drawing model using cluster algorithm and presents a unique style. The painted results combine outline and sketch characters different from preceding work and each costs less than two minutes to finish an outline portrait and 4-6 minutes with sketch pattern.