Camera and sensor augmented reality techniques are described. In one or more implementations, sensor data is obtained from a sensor of a hardware device, the sensor data being associated with the hardware device that is located in an environment, such as in three-dimensional (3D) space. Images of the environment are captured with at least one camera of the hardware device. A position of the hardware device in the environment can then be determined based on at least one of the sensor data and the images of the environment. Further, an orientation of the hardware device in the environment can be determined based on at least one of the sensor data and the images of the environment.