A method for use with a machine , in particular a mobile or stationary robot, in particular an articulated arm robot, comprising: receiving pose information of the machine detected by means of a measuring system of the machine ; forming a three-dimensional machine model (M1) of the machine based on the received position information; capturing an image of the machine by means of an image capturing device ; and displaying an augmented reality display environment by means of a display device , wherein the augmented reality display environment is calibrated by: - determining a relative pose between the machine and the image capturing device by recognising the machine and/or one or more parts of the machine in the image based on the three-dimensional machine model (M1); and - performing coordinate matching between a machine coordinate system of the machine and a coordinate system of the image capturing device based on the determined relative pose, wherein the augmented reality display environment comprises a machine simulation model superimposed on the machine formed based on the received position information; characterised in that the augmented reality display environment is dynamically localised by applying a simultaneous localisation and mapping algorithm (SLAM algorithm) to a plurality of images of the image capturing device ; and loop-closing of the SLAM algorithm for extracting a drift of the SLAM algorithm uses the machine recognised in the image and/or the one or more parts of the machine recognised in the image and the received position information of the machine . receiving pose information of the machine detected by means of a measuring system of the machine ; forming a three-dimensional machine model (M1) of the machine based on the received position information; capturing an image of the machine by means of an image capturing device ; and displaying an augmented reality display environment by means of a display device , wherein the augmented reality display environment is calibrated by: - determining a relative pose between the machine and the image capturing device by recognising the machine and/or one or more parts of the machine in the image based on the three-dimensional machine model (M1); and - performing coordinate matching between a machine coordinate system of the machine and a coordinate system of the image capturing device based on the determined relative pose, - determining a relative pose between the machine and the image capturing device by recognising the machine and/or one or more parts of the machine in the image based on the three-dimensional machine model (M1); and - performing coordinate matching between a machine coordinate system of the machine and a coordinate system of the image capturing device based on the determined relative pose, the augmented reality display environment comprises a machine simulation model superimposed on the machine formed based on the received position information; characterised in that the augmented reality display environment is dynamically localised by applying a simultaneous localisation and mapping algorithm (SLAM algorithm) to a plurality of images of the image capturing device ; and loop-closing of the SLAM algorithm for extracting a drift of the SLAM algorithm uses the machine recognised in the image and/or the one or more parts of the machine recognised in the image and the received position information of the machine . <EOS>