This paper presents an innovative application of Augmented Reality (AR) techniques in the field of industrial engineering in which the user explores data from numerical simulations or the results of measurements and experiments, superimposed to the real object that they refer to. The user observes the object through a tablet PC, used as a video see-through handheld display. Data are visualized superimposed to the real object that represents a spatial reference relative to which the user can refer to, so the exploration is more natural compared to a traditional visualization software. Moreover, we have developed a new framework, called VTK4AR, that provides a set of useful software classes for the rapid development of AR applications for scientific visualization. VTK4AR is built on top of VTK (an open source API for scientific visualization), so it will be possible to employ a wide range of visualization techniques in many application fields, and moreover, it is possible to interactively manipulate data-sets in order to achieve a more effective way of visualization.