This gist shows the vectorized version of the first three panels of the "Kunyu Wanguo Quantu".
Use imagemagick for converting the jpg file into a bitmap.
convert ../Kunyu_Wanguo_Quantu_by_Matteo_Ricci_Plate_1-3.jpg ../Kunyu_Wanguo_Quantu_by_Matteo_Ricci_Plate_1-3.bmp
The potrace tool is then used to vectorize the bitmap.
./potrace -k 0.2 --svg ../Kunyu_Wanguo_Quantu_by_Matteo_Ricci_Plate_1-3.bmp -o ../Kunyu_Wanguo_Quantu_by_Matteo_Ricci_Plate_1-3.svg
Look at
-t n, --turdsize n suppress speckles of up to this many pixels.
-k n, --blacklevel n set the threshold level for converting input images to bitmaps. The potrace algorithm expects a bitmap, thus all pixels of the input images are converted to black or white before processing begins. Pixels whose brightness is less than n are converted to black, all other pixels to white. Here n is a number between 0 and 1. One case is treated specially: if the input is in an indexed color format with exactly 2 colors, then the blacklevel is ignored and the darker of the two colors is mapped to black.
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<html>
<head>
<meta charset="utf-8">
<script src="https://d3js.org/d3.v4.min.js"></script>
<script src="https://d3js.org/d3-selection-multi.v0.4.min.js"></script>
<link rel="stylesheet" type="text/css" href="index.css">
<title>External SVG import & zoom</title>
</head>
<body>
<svg></svg>
<script src="index.js"></script>
</body>
</html>
Modified http://d3js.org/d3.v4.min.js to a secure url
https://d3js.org/d3.v4.min.js
https://d3js.org/d3-selection-multi.v0.4.min.js