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The original pencils are by renecordova. For some reason he deleted almost all his gallery so you can't find the pencils anymore.
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The first image is created using trace bitmap. The second is the colour (duh) but I posted the outlines so you can see how I've used clips.
I use the development build of Inkscape with the paint bucket tool. I use the paint bucket tool to easily fill an area but then I use that shape to clip a rectangle. The rectangles has the flat colour you seen in the second pick. I do this so I can easily enter the clip and add more shapes to create shading and lighting effects without having to worry about 'staying between the lines'. From this point onwards, colouring should be easy and fun.