To register and track fixed objects, the common methods are using prefabricated markers, or using professional AR devices with integrated depth cameras and other accessories, whose costs are high. To address the defects of existing methods, a simple cooperative hybrid tracking and registration technology that integrates object detection and spatial projection algorithm is proposed. Firstly, the object type is obtained by the deep learning algorithm for object detection, and then the specific object ID is determined by the spatial projection algorithm using position and posture information obtained from sensors, which improves the matching degree and accuracy of the virtual information superimposed on the real scene. Based on this algorithm, an AR application for smart IoT infrastructure maintenance is realized and experiments are conducted on objects such as light poles and trashcans. The experimental results show that this method can run on ordinary smartphones and AR glasses, achieving the expected results, avoiding the need for prefabricated markers, and reducing the requirement for hardware resources.