LSA Portraiture Robot

  • Bruno Rodrigues
  • Eduardo Cruz
  • André Dias
  • Manuel F. SilvaEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 418)


This paper describes the development of an application that allows an ABB robot arm to automatically perform the portrait of people. The Portraiture Robot performs the picture of a human face on paper. The developed system consists of 4 steps: (i) image acquisition through a webcam, (ii) image processing to retrieve the contours and features of the person’s face, (iii) vectorization of the coordinates in the image plane, and (iv) conversion of the coordinates to the RAPID programming language. To get only the person’s face, is performed a background subtraction and to obtain only the necessary information from the image are used filtering techniques to remove the features and contours of the person’s face. To convert these points into x, y coordinates, the contours are vectorised and sent to a file, saved according to a defined protocol, and allowing to create a program for the robot. The developed application allows processing of all blocks listed above in real-time and in a robust manner, having the ability to adapt to any environment and allowing continued use. The work was validated through the participation in the 2014 Portuguese Robotics Open, and in an ISEP exhibition that occurred in Maia, always with good results.


Computer vision Industrial robot manipulator Drawing OpenCV ROS QtCreator 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Bruno Rodrigues
    • 1
    • 2
  • Eduardo Cruz
    • 1
    • 2
  • André Dias
    • 1
    • 2
  • Manuel F. Silva
    • 1
    • 2
    Email author
  1. 1.Department of Electrical EngineeringLSA - Autonomous Systems Laboratory, ISEP-IPP - School of Engineering of the Polytechnic of PortoPortoPortugal
  2. 2.INESC-TEC - INESC Science and TechnologyPortoPortugal

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