Vectormagic is awesome.

http://vectormagic.stanford.edu/

A Stanford AI student’s project. Also known as a remarkably good, free, web-based vectorizer.

I’ve only used it a bit, but here’s how it does on a lousy photo of a whiteboard drawing!

(screenshot from illustrator on the left, screenshot of a cameraphone-on-whiteboard photo on the right. Click for fullsize)

I can’t wait to try this out for cleaning up hand-drawn scanned stuff.

If you check out their site, you can see examples of more complex stuff and comparisons to the lousy results from commercially-available tools. It even does a bang-up job on photos and low-resolution images (the holy grail for people asking for redrawn logos).

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