A method for generating an AR user manual in an electronic 3D viewing environment includes: recording a movement trajectory of an optical sensor of the 3D viewing environment; receiving landmark position information; performing iterative target object pose estimation, including: estimating a target object pose from each optical sensor pose and landmark position in the recorded movement trajectory; calculating an estimation error from a 3D model arranged in the estimated target object pose and projected onto the target object in the real world scene; calculating the average value of the estimation errors; repeatedly iterating the target object pose estimation to optimize the estimated target object pose so as to obtain the minimum value of the average estimation error of the target object pose; if the minimum value of the average estimation error is within a predefined estimation error threshold value, rendering the AR user manual to the target object according to the optimized estimated target object pose.
Apparatus and method for augmented reality user manual