Abstract: An augmented reality system for procedural guidance identifies a fiducial marker object in a frame of a first field of view generated by a camera, determines a pose of the fiducial marker object, applies the fiducial marker pose to generate a first transformation between a first coordinate system of the fiducial marker object and a second coordinate system of the camera, and applies a pose of a headset to determine a second transformation between the first coordinate system and a third coordinate system of the headset.