cl-vectors is a pure Common Lisp project which include two libraries, cl-aa and cl-paths to rasterize and manipulate vectorial paths. All the pictures in this documentation were rendered with this project.
Note that the library cover rasterization but not bitmap rendering (yet). It's up to the user to provide the necessary part, specific to the image where the rendering must occur (so that you can use any image format you like.) However, an example is provided in the file aa-misc.lisp, with basic stuff to save the resulting image to pnm.
The latest version can be found at files/cl-vectors-0.1.3.tar.gz.
Installing this package with ADSL-Install is also possible with (asdf-install:install 'cl-vectors).
You can contact me at frederic@jolliton.com. Don't hesitate to ask for help or to send comments and suggestions.
More elaborate image support is planned, including filling polygons with gradients. See examples here and here.