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We propose a mobile augmented reality (AR) system for helpful and efficient museum guidance. The system can provide not only useful information of exhibitions such as their inside view, origination, and how-to-use, but also a variety of interactions with the exhibitions. The system prototype is implemented on ultra mobile personal computer (UMPC) which is equipped with a camera, an ultrasound receiver, and a gyro sensor. The system function consists of two parts: tracking part, and event handling and visualization part. The tracking part consists of two parts again: global pose tracking part using ultrasound sensors and a gyro sensor, and local pose tracking part using a vision sensor which computes effectively the camera pose under less-controlled environments by combining edge information with feature point information of the camera images. The usefulness of the proposed system and user satisfaction are evaluated through the experimental results in various scenarios.