A projection-based augmented reality tool with 3D perception designed by INESC TEC is used in shipbuilding to perform a task (marking, cutting, or welding a metal structure) in a more accurate manner. It could be also used to program a collaborative robot to perform those tasks. The system integrates pertinent data from CAD models, and projects them directly into the environment. The effectiveness of these processes is increased because there is no need for manual measurements, markings, or interpretation of technical drawings, which reduces the probability of errors.