The disclosed technology presents a device and a method, respectively, for generating an augmented reality (AR) image (or AR video). The device configures to obtain a first image of a scene, obtain a second image of an object, obtain a depth range, and capture a third image of only the parts of the scene inside the depth range. Further, the device configures to generate occlusion information based on the third image, and overlay the first image and the second image based on the occlusion information to generate the AR image.