Minimally invasive endoscopic surgery always remains a challenge due to the complexity of the anatomical location and the limitations of endoscopic vision. An Augmented Reality (AR) navigation system was designed for simulation of pelvic minimally invasive surgery. Firstly, a 3D model of pelvis which was segmented and reconstructed from the preoperative CT (Computed Tomography) was textured mapping with the real pelvic surgical video, and then a surgical video with the ground truth pose was simulated. The blank model was initially registered with the intraoperative video by a 2D/3D registration based on color consistency of visible surface points. After that, an accurate tracking of intraoperative endoscopy was performed using a stereoscopic tracking algorithm. According to the multi-DOFs (Degree Of Freedoms) transformation matrix of endoscopy, the preoperative 3D model could then be fused to the intraoperative vision to achieve an AR navigation. The experimental results show that the root mean square error of the estimated trajectory compared to the ground truth is 2.3933 mm, which reveals that the system can achieve a good AR display for visual navigation.