A method implemented by one or more processors, comprising: identifying, by an automated assistant client of a computing device in an environment, a base image for projecting onto a surface via a projector accessible to the automated assistant client; determining (304, 902), using sensor data from at least one sensor, a first pose of a user in the environment, wherein the sensor data is accessible to the automated assistant client; determining, from the first pose, a distance from the user to the surface, wherein identifying the base image comprises identifying the base image using the distance from the user to the surface and wherein: if the user is within a threshold distance of the surface, the base image includes one or more touch sensitive interface elements, and if the user is not within the threshold distance of the surface, the base image lacks any touch sensitive interface elements; determining, using the first pose of the user, first image transformation parameters for warping images; generating (308, 908) a first transformed image that is a linear transformation of the base image, wherein generating the first transformed image comprises using the first image transformation parameters to warp the base image, wherein the first transformed image, when projected onto the surface and viewed from the first pose of the user, mitigates perceived differences relative to the base image; causing (310, 910) the projector to project the first transformed image onto the surface; determining, using additional sensor data from the at least one sensor, a second pose of the user in the environment, wherein the second pose of the user indicates the user has moved; determining, using the second pose of the user, second image transformation parameters for warping images; generating a second transformed image that is a linear transformation of the base image or of an additional base image, wherein generating the second transformed image comprises using the second transformation parameters to warp the base image or the additional base image, wherein the second transformed image, when projected onto the surface and viewed from the second pose of the user, mitigates perceived differences relative to the base image or the additional base image; and causing the projector to project the second transformed image onto the surface. identifying, by an automated assistant client of a computing device in an environment, a base image for projecting onto a surface via a projector accessible to the automated assistant client; determining (304, 902), using sensor data from at least one sensor, a first pose of a user in the environment, wherein the sensor data is accessible to the automated assistant client; determining, from the first pose, a distance from the user to the surface, wherein identifying the base image comprises identifying the base image using the distance from the user to the surface and wherein: if the user is within a threshold distance of the surface, the base image includes one or more touch sensitive interface elements, and if the user is not within the threshold distance of the surface, the base image lacks any touch sensitive interface elements; if the user is within a threshold distance of the surface, the base image includes one or more touch sensitive interface elements, and if the user is not within the threshold distance of the surface, the base image lacks any touch sensitive interface elements; determining, using the first pose of the user, first image transformation parameters for warping images; generating (308, 908) a first transformed image that is a linear transformation of the base image, wherein generating the first transformed image comprises using the first image transformation parameters to warp the base image, wherein the first transformed image, when projected onto the surface and viewed from the first pose of the user, mitigates perceived differences relative to the base image; causing (310, 910) the projector to project the first transformed image onto the surface; determining, using additional sensor data from the at least one sensor, a second pose of the user in the environment, wherein the second pose of the user indicates the user has moved; determining, using the second pose of the user, second image transformation parameters for warping images; generating a second transformed image that is a linear transformation of the base image or of an additional base image, wherein generating the second transformed image comprises using the second transformation parameters to warp the base image or the additional base image, wherein the second transformed image, when projected onto the surface and viewed from the second pose of the user, mitigates perceived differences relative to the base image or the additional base image; and causing the projector to project the second transformed image onto the surface.