Ted Dunning wrote:   
   > This may not be the answer you seek, but Adobe Streamline does a pretty   
   > amazing job of this.   
      
   It's not, indeed. Adobe Streamline probably doesn't come with source,   
   does it?   
      
   Anyway, I am now thinking about mimicking those robots following lines.   
   I'm going to pre-filter image to find corners, then cluster results and   
   use cluster centers as "robots" starting positions.   
      
   What are best algorithms for these robots?   
      
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    * Origin: you cannot sedate... all the things you hate (1:229/2)