1. A scanning apparatus comprising: one or more navigation sensors configured to capture first navigational measurements of a first portion of a medium; one or more optical imaging sensors configured to capture a first plurality of surface images of the first portion of the medium; a control block configured to construct a composite image based at least in part on the first plurality of surface images, and determine a position of the apparatus relative to a first reference point based at least in part on the first navigational measurements; and a communication interface configured to provide the composite image to a mobile device.