With the median filter/edge detection from the previous log the following two images can be generated from the hackaday logo...

median edge (=cleanup + edge detection)	median (=cleanup of jpg artifacts)

For the edge picture, it is possible to implement a simple line following "robot" that operates by the following principle:

- for all the steps the "line following robot" makes,
  keep track of them
- find brightest point in image and move/drop/spawn there
- mark point as "already visited" by painting it black
  (draw small black filled circle)
- for -180° to +180° (relative to the current heading) 
  with a distance d from current position,
  sweep around and check where the brightest spot is,
  head there. and move one step with distance d.
  mark point as "already visited". repeat.
  If there is no brightest point near the current location,
  globally find the brightest point and start all over,
  keeping the "already visited" marks.

With the state drawn every step the "line following robot" takes, it is possible do render a series of images and combine them into a video to see the bot in action.

Left: Paths the robot went, Right: Input/playground/temporary image:

Letting the same algorithm run on the filled image, and modifying the "line detection" to sweep from left to right and use the FIRST occurence of a bright point around, it will crawl along the edges.

Note that as soon as the bot crawled along an edge and marked the area as "already visited" by drawing black filled circles there, the edge is slightly distorted and the errors will add up for every new pass the bot takes in my current implementation. Varying the "already visited" pattern, the logic that re-sets the bot once it went into a dead end and the logic it uses to determine where to crawl, it is possible to create various patterns. Not perfect, but a nice starting point. Marking the already-visited points by altering a copy of the input image limits the algorithm to the image resolution, but allows a simple algorithm that does not get slower over time (e.g. collecting and comparing all the "already visited" points in a list, for each visited point one more would need to be checked each time the bot plans a move).

HPGL is a vector image format once used by Hewlet-Packard pen plotters, test equipment, network analyzers (e.g. HP8753). There are only three commands to do basic stuff:

SP1 = select pen number 1
PU123,456 = lift pen and go to absolute coordinate x|y=123|456
PD789,123 = put pen on paper and go to x|y=789|123

Of course, the HPGL format supports much more (text, splines, dotted lines and other features). For a full-blown viewer try the CERN HPGL Viewer ( http://service-hpglview.web.cern.ch/service-hpglview/ ).

As the points the bot visited were stored in a list, it is easy to generate HPGL commands out of them and feed them to a pen plotter. It is possible to do an simulated pen plotter by just interpreting the commands and setting pixels in a bitmap:

Right now, filling is just a quick hack and needs improvement. There are much more points in there than necessary. Paths can be combined (if end-start, start-start or end-end are near each other) and certain intermediate points can be omitted. More on this in a followup log...

EDIT/Update: pen plotted: