Hardware-Based Non-Photorealistic Rendering Using a Painting Robot

We describe a painting machine and associated algorithms. Our modified industrial robot works with visual feedback and applies acrylic paint from a repository to a canvas until the created painting resembles a given input image or scene. The color differences between canvas and input are used to direct the application of new strokes. We present two optimization-based algorithms that place such strokes in relation to already existing ones. Using these methods we are able to create different painting styles, one that tries to match the input colors with almost transparent strokes and another one that creates dithering patterns of opaque strokes that approximate the input color. The machine produces paintings that mimic those created by human painters and allows us to study the painting process as well as the creation of artworks.