Abstract: Augmented reality method comprising: receiving continuously from a SLAM system in an HMD SLAM data and performing a SLAM tracking; performing an IR object tracking comprising at each IR iteration of the IR object tracking; and displaying at each IR iteration an AR visualization on an AR display in the HMD such that the AR visualization appears on an AR position or an AR pose in the world coordinate system depending on the pose of the object in the world coordinate system of the current IR iteration.