An apparatus for calibrating an augmented reality (AR) device having an optical see-through head mounted display (HMD) obtains eye coordinates in an eye coordinate system corresponding to a location of an eye of a user of the AR device, and obtains object coordinates in a world coordinate system corresponding to a location of a real-world object in the field of view of the AR device, as captured by a scene camera having a scene camera coordinate system. The apparatus calculates screen coordinates in a screen coordinate system corresponding to a display point on the HMD, where the calculating is based on the obtained eye coordinates and the obtained object coordinates. The apparatus calculates calibration data based on the screen coordinates, the object coordinates and a transformation from the target coordinate system to the scene camera coordinate system. The apparatus then derives subsequent screen coordinates for the display of AR in relation to other real-world object points based on the calibration data.