Augmented reality (AR) marker hiding is a technique to visually remove AR markers in a real-time video stream. A conventional approach transforms a background image with a homography matrix calculated on the basis of a camera pose and overlays the transformed image on an AR marker region in a real-time frame, assuming that the AR marker is on a planar surface. However, this approach may cause discontinuities in textures around the boundary between the marker and its surrounding area when the planar surface assumption is not satisfied. This paper proposes a method for AR marker hiding without discontinuities around texture boundaries even under nonplanar background geometry without measuring it. For doing this, our method estimates the dense motion in the marker’s background by analyzing the motion of sparse feature points around it, together with a smooth motion assumption, and deforms the background image according to it. Our experiments demonstrate the effectiveness of the proposed method in various environments with different background geometries and textures.