Curve fitting using polygonal approximation for a robotic writing task

In this paper a Polygonal Approximation is performed on a picture taken from a webcam with a desirable amount of points, this with the purpose to have an optimal representation of the drawing. The image is pre-processed with different methods like Canny edge detection and threshold with dilation operators before Polygonal approximation begins. After pre-processing is finished, the algorithm for the approximation is carried out; once we have the N points that best describe the contour of the figure, the coordinates are stored and a 2 dof arm draws the contour of the figure observed.