Embodiments relate to using sensor data and location data from a device to generate augmented reality images. A mobile device pose can be determined (a geographic position, direction and a three dimensional orientation of the device) within a location. A type of destination in the location can be identified and multiple destinations can be identified, with the mobile device receiving queue information about the identified destinations from a server. A first image can be captured. Based on the queue information, one of the identified destinations can be selected. The geographic position of each identified destination can be identified, and these positions can be combined with the mobile device pose to generate a second image. Finally, an augmented reality image can be generated by combining the first image and the second image, the augmented reality image identifying the selected one destination.