ASM

Finally working on a new system that will draw influenced by knowledge and experience. For the first experiments, the system will use Active Shape Model, based on T. Cootes work[1]. As a base I am using the Stasm library [2].  For my purpose I need to train specific dedicated models based on the way I draw faces.

asm_marker.py

First stage. I wrote a little utility to annotate images, using python and opencv.










[1] Cootes, Timothy F., et al. "Active shape models-their training and application."Computer vision and image understanding 61.1 (1995): 38-59.

[2] Milborrow, Stephen, and Fred Nicolls. "Locating facial features with an extended active shape model." Computer Vision–ECCV 2008 (2008): 504-513.

Paul's new friend, eDavid...

First day at the University in Konstanz, Building Z...... eDavid is an intimidating boy...

Paul's new friend, eDavid.

Aims

The idea is to get the robot to paint autonomously with the same technique as I used to paint these...and see what happen.. 
The new Paul will be use to sketch and experiment whilst eDavid will be used to produce more finished larger scale paintings.

An interesting side effect is that after more than ten years without painting, I have started again. It seems that I could get passionate about it. If I continue to practice I might even get results that I am satisfied with.

The new prototyping Paul

Here is the new Paul. Two arms one to paint, one to smudge. It is able to paint on two different sizes canvas, and also to draw on paper and is designed to use visual feedback . Due to the use of the MX-28 servos  by Robotis  this Paul should draw in a significantly different style.  Its size is constraint by the size of the largest checkable suitcase accepted by most airlines without having to pay a supplement.

Next I need to port my current framework based on YARP to ROS...

New Project

I am going to spend 10 months in Konstanz to get robots to paint portraits. I'll be working with professor Oliver Deussen's team and their robot. I'll also be using a new Paul with three arms.

First a bit of shopping for me and the new forthcoming Paul.
Although I previously painted in oil .. For this project I'll be using acrylics.

Enough material for me and the robots