Patent ID: 8632266

Claim:
A printing apparatus comprising: a communication interface configured to receive image data from a mobile device; a navigation sensor configured to capture first navigational measurements of a first portion of a medium; an optical imaging sensor configured to capture a first plurality of surface images of the first portion of the medium; a control block comprising a positioning module configured to control the navigation sensor and to determine a position of the apparatus relative to a first reference point based at least in part on the first navigational measurements, and an image capture module configured to control the optical imaging sensor and to construct a first composite image based on the first plurality of surface images, wherein the positioning module is further configured to use the first composite image to calibrate the determined position of the apparatus relative to the first reference point; and a print head configured to deposit a printing substance on the medium based at least in part on (i) the image data and (ii) the determined position of the apparatus as calibrated by the positioning module, wherein the print head includes a plurality of nozzles arranged around the optical imaging sensor.