Drawing Robot Scribbler Project: Request for Help

I’ve been working on a drawing robot lately. My goal is to make something work like the scribblebot that is featured in the current volume of the magazine. My friend 3ric and Adam are both helping me out but we need some help to make the image into something that a software program can use to boss around the robot.

We’ve got the hardware set up with the stepper motors and I’ve got the make controller connected to it, but I need to figure out how to get the webcams picture to get changed into the vectors/line art and then get sent out to the motors. If you’ve got some ideas or software suggestions for me, I’d be most grateful. What is your pathway from image to cnc drawbot?

Here’s a little video from the roboteer meetup we had. Jen had fun driving this really cool robot around. It uses wheels that have little wheels on them! Even though it only has 3 wheels it can go any which way. Watch to the end for the robot pov of shoes!