Systems, apparatuses, and methods for a printing device for use with a mobile device are described herein. The printing device may include an image capture module to capture surface images of a medium and a positioning module to determine positioning information based at least in part on navigational measurements and the captured surface images. A print module of the printing device may cause print forming substances to be deposited based at least in part on the positioning information. A mobile device may include one or more features of the printing device including the image capture module, the positioning module, and the print module. Other embodiments may be described and claimed.