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Existing geometric and radiometric compensation methods for direct-projected augmented reality focus on static projection surfaces rather than dynamic surfaces (with varying geometry in time). We aim at providing an effective framework for projecting a sequence of augmented reality images onto dynamic surfaces without geometric and radiometric distortion. We present our design of a special pattern image for simultaneous geometric and radiometric compensation and evaluate two different techniques for embedding the pattern image into augmented reality images. The validity of the proposed method is examined through a variety of experiments with a mobile projector-camera system.