Computer-assisted painting with a retractable pen and computer vision tracking

Summary This project focuses on creating a computer-assisted painting system that uses a retractable pen controlled by computer vision tracking. By combining art and technology, the system allows users to guide the pen manually while automation decides when to apply ink, making it possible to replicate digital designs on paper. To provide precise motion tracking and ink control, the configuration consists of hardware such as the OptiTrack V120 Duo, USB camera, and an Arduino Nano that controls a solenoid responsible for retracting or poking the tip. The position of the pen tip can be carefully tracked with the aid of motion tracking reflective markers, ArUco markers, with previous camera and ground calibration. Later, in python everything is processed to send the Arduino what the pen needs to do. The project compares two tracking methods: OptiTrack and ArUco. It also provides some modifications to increase accuracy and minimize delays, enhancing the drawing process. Showing and comparing original and final drawings.