Patent ID: 8345306

Claim:
An apparatus comprising: one or more navigation sensors configured to capture a first plurality of navigational measurements, and a second plurality of navigational measurements; a print head configured to be controlled to deposit a printing substance on a first medium; one or more optical imaging sensors configured to capture (i) a first plurality of surface images of the first medium adjacent to the apparatus, and (ii) a second plurality of surface images of a second medium adjacent to the apparatus; and a control block configured to determine (i) a first plurality of positions of the apparatus relative to a first reference point based at least in part on the first plurality of navigational measurements, and (ii) a second plurality of positions of the apparatus relative to a second reference point based at least in part on the second plurality of navigational measurements, construct a composite image based at least in part on (i) the second plurality of surface images, and (ii) the second plurality of positions of the apparatus, and control the print head to deposit the printing substance on the first medium based at least in part on (i) the composite image and (ii) the first plurality of positions of the apparatus.