Abstract: An augmented reality (AR) system includes a display having a 2D display coordinate system and a controller. The controller receives from an image having a 3D AR coordinate system, recognizes a first object in the image, determines a first distance to a viewpoint, and receives an instruction to display a second object image on the display, which includes a 3D AR position of the second object with a depth coordinate indicating a second distance to the viewpoint. The controller retrieves dimensions of the second object, obtains a distance index for the camera, calculates a distance scaling factor, calculates a 2D display position for the 3D AR position, calculates display dimensions for the second object, generates a display object image by scaling the second object image to the display dimensions, and displays the display object image onto the display based on a comparison of the first distance and the second distance.