Laser-based drawing methods for rigid objects need precise alignment and often suffer from limitations withregard to the target posture. We propose a method of drawing for posture-free objects using photochromism.We utilize a camera-laser coaxial optical system, high-speed visual feedback, and active marking to mark dotsfor tracking onto the target surface while drawing the intended lines. The method enables simple calibration anddrawing onto rotationally symmetric and planar objects, and ensures robustness to the object's slight movements,thus leading to all-around drawing. The evaluation experiment confirmed that the proposed method has highdrawing accuracy onto both static and rotating objects, as the drawing errors was within 1 mm on average, andcan draw even onto a curved surface of a rotationally symmetric object.
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