One of the earliest pieces of work was some code in QuickBasic to examine the pixel values in a camera image, do some analysis on it and turn it into plotter instructions

The camera image in grey has been blown up and processed. The plotter output is in blue.
The main challenge in this project is to take camera information in pixels and turn it into motion and lines. Motion is inherent in drawing a line: artists and art teachers talk about lines having movement. Paul Klee's Pedagogical Sketchbook is a fine example. There is no motion inherent in pixels: humans infer a line from shapes. This is an important aspect of vision and cognition.