Intention projection is a method developed in our lab to give robots the ability to guide human workers when collaborating with robots. By utilizing the environment as a canvas for projection, the system is able to display various signs, icons and texts into the environment that can be used to guidde the human or to express the intentions of the robot by using visual cues. For this system, a vision-based object tracker is used to precicely determine the position and rotation of each object in the environment. A projection mapping technique is then used to project various information onto the environment or objects in the environment. Tracking objects and projecting information simultaneouly allows the system to provide information in real-time to the human colaborator. The main objective of this methodology is to increase the overall performance of human-robot teams.