Patent ID: 7808478

Claim:
An autonomous handheld device, comprising: a drawing module having drawing capabilities for electronically editing a drawing, said editing comprising creating said drawing, changing said drawing and relocating of elements within said drawing; and a motion sensing feature comprising an image sensor for sensing self-motion; wherein said autonomous handheld device is configured to associate said motion sensing feature with said drawing capability, the motion sensing feature comprising a motion vector detection module adapted to capture digital images during a displacement of said autonomous handheld device, said motion vector detection module being configured for generating a current motion vector of said image sensor in relation to said digital images currently being captured, wherein said motion vector detection module is operatively associated with said drawing module to modify said electronic editing by carrying out said creating, changing and relocating according to said current motion vector thereby to allow sensed motion of said motion sensing feature to modify said electronic editing, and said motion vector detection module is further configured such that said generating a motion vector comprises providing a brightness change compensation mask to convert representational values of pixels of respective grayscale digital image pixels by multiplying each pixel by a constant multiplicative factor whose value is determined according to the position of the multiplied pixel.