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    $\begingroup$ Good solution. I notice only two minor differences between this and the original images. In the originals, the lighting is harsher (perhaps unrealistically), with large specular highlights and dark shadows. The outlines also vary in thickness due to hand movement and ink bleeding. $\endgroup$ Commented Mar 13, 2013 at 18:16
  • $\begingroup$ Fantastic. I am especially pleased that you have exposed parameters to tinker with here. $\endgroup$ Commented Mar 13, 2013 at 21:35
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    $\begingroup$ @JOwen You could argue that the parameters are weaknesses. I couldn't make a solution which automatically would work for any 3D object. What I do is that I keep increasing c (contrast) and g (gamma) manually until the bright parts are bright enough and the dark parts are dark enough. It would be more convenient if this could be done automatically, but I don't know how to reliably automate it ... $\endgroup$ Commented Mar 13, 2013 at 22:01