There are lots of hacks out there that allow using spray cans on a
roller that you can push or walk behind to do art on sidewalks or
grass.
There are 'ink' (think sharpie) wall printers that are basically pen plotters.

Here are links for both Raster and Vector printing projects:

http://hackaday.com/2006/04/26/old-pen-plotter-converted-to-vinyl-cutter/
http://www.instructables.com/id/X-Y-Plotter/
http://jason-webb.info/2012/05/wall-plotter-update-8-pulley-hack-first-prints-and-acquiring-better-parts-for-new-plotter/
http://www.instructables.com/id/DIY-BioPrinter/
http://makezine.com/2014/08/25/the-chalkjet-writing-machine/
http://hackaday.com/2011/09/12/inkjet-print-head-driver-shield/
http://hackaday.com/2009/03/24/nickel-o-matic/
http://hackaday.com/2011/09/12/inkjet-print-head-driver-shield/

When in college (ages ago) we used a large format (48x60 inch) X-Y pen
plotter with G-code drivers to do color plots.
These days anyone can build one for a couple of hundred bucks (that
one cost $100K in 1970 dollars).
The software is pretty simple, anyone could write a simple driver for
a RaspberryPi or Arduino without to much
difficulty (if they are any kind of a programmer).  Most of these are
vector printers similar to most CNC machines.

Inkjet style is a little more difficult to control is slightly more
difficult.  It takes getting the image desired
into raster format of the appropriate resolution for the printer (not
to hard, but takes resources).  Most
raster printers don't tend to do much buffering and don't change the
image (unless using a raster language
like PostScript or HPGL or similar - all which use considerable
additional resources over a simple printer).
Part of the difficulty is keeping the raster image in perspective
(aspect ratio, image density, etc).  Still,
nothing is insurmountable with a little ingenuity and hacking! ;-)  It
just may not be an out of the box
solution.

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