An augmented reality system, an augmented reality hmd, and augmented reality method and a computer program

Augmented reality method comprising the following steps: receiving continuously from a SLAM system in an HMD SLAM data and perform a SLAM fracking, wherein the SLAM fracking based on the SLAM data defects an environment of the HMD in a world coordinate system and simultaneously defects the pose of the HMD in the world coordinate system using a SLAM algorithm, wherein the SLAM fracking at each SLAM iteration determines the pose of the HMD in the world coordinate system at the time of the respective SLAM iteration based on SLAM data received from the SLAM system at the time of the SLAM iteration; performing an IR object fracking comprising at each IR iteration of the IR object fracking: to receive from an IR image sensor in the HMD an IR image captured at a time of the IR iteration; to defect IR object markers in the IR image of the IR iteration; to determine the pose of the object in an HMD coordinate system at the IR iteration based on 2D positions of the IR object markers defected in the IR image of this IR iteration and based on a known spatial relationship of a set of IR object markers attached to an object to be defected, and to determine the pose of the object in the world coordinate system of the IR iteration based on the pose of the object in an HMD coordinate system of the IR iteration and based on the pose of the HMD in the world coordinate system determined in the SLAM fracking; 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, wherein, until the pose of the object of the next IR iteration is available, the displaying of the AR visualization is updated based on the HMD poses in the world coordinate system obtained in the SLAM fracking such that the AR visualization is displayed stably at the AR position or AR pose in the world coordinate system of the current IR iteration.