Remote Reality (RR) System was designed based on Mobile Robot, which was used for robot teleoperation assistance. In order to improve human-machine interaction, Augmented Reality (AR) was introduced to the remote reality system. According to the principle of 3D registration of AR, a vision-based registration method used in hyperboloidal catadioptric omnidirectional imaging system was educed, which realized the registration of 3D virtual robot in omnidirectional image. Then Augmented Remote Reality (ARR) was used in the perspective interface unwrapped from circular omnidirectional image with a fast approximate algorithm. The experimental results show that the ARR improves visual effects and has annotation-based assistance information to enhance the capacity of human-machine interaction.