A method displays an output image on an object. A set of unique markers are fixed to the object at predetermined locations. An input image of the object and the markers is acquired with a camera in afixed physical relationship to a projector. A pose of the projector with respect to the markers is determined from the image. Then, one or more output images related to the object can be projected ontothe object, at predetermine locations, according to the pose of the projector and the unique markers.