Experiments performed using OpenCV with Python bindings. Results were being able to reliably reconize contours in images with reasonably good contrast between the foreground and background. More than enough needed for recongizing dark characters on calligraphy paper. Example:
Older work here
It is possible we will need to use stereo cameras (2 webcams) or a kinect to achieve the kind of vision we want to use. Having depth information easily accessible may make our project easier.
Getting baxter to move his hands using ROS. Performing ROS setup and getting comfratable with it's API and assoicated programming enviroment. Likely using python bindings.
Modifying paintbrushes and calligraphy set for easy use by baxeter. Including cutting out piece of balsa wood, among other modifications which will be determined at a future time as needed.
Finally we will make adjustments to make baxter perform the traditional techniques used in calligraphy to make beautiful and aesthetic characters such as this: