Patent ID: 8100497

Claim:
An apparatus comprising: a communication interface configured to receive an image from an image source; a positioning module configured to (i) control one or more navigation sensors to capture a first plurality of navigational measurements, (ii) control the one or more navigation sensors to capture a second plurality of navigational measurements, (iii) determine a position of the apparatus relative to a reference point based at least in part on the first plurality of navigational measurements, and (iv) determine a plurality of positions of the apparatus relative to another reference point based at least in part on the second plurality of navigational measurements; an image capture module configured to (i) control one or more optical imaging sensors to capture a first plurality of surface images of a first medium adjacent to the apparatus, (ii) control the one or more optical imaging sensors to capture a second plurality of surface images of a second medium, and (iii) construct a composite image based at least in part on (i) the second plurality of surface images and (ii) the determined plurality of positions of the apparatus; and a print module configured to cause a printing substance to be deposited on a first portion of the first medium during multiple passes of the print module over the first portion based at least in part on (i) the image received by the communication interface and (ii) the determined position of the apparatus.