I recommend that you download the AWS SDK for Android: http://aws.amazon.com/pt/sdkforandroid/ and read its documentation. It is really easy to use its API.
After you have all your SDKs and tokens configured on the server and your code, you only need a call to download the image from S3:
AmazonS3 s3 = new AmazonS3Client(AWSCredentials); S3Object object = s3.getObject(bucketName, pictureId); object.getObjectContent();
But read the documentation, the full configuration requires a lot of work.
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