The disclosure relates to augmented reality devices based on a curved waveguide. An augmented reality device is provided. The augmented reality device includes a projection system to project an undistorted image, an input optical compensator located on the path of light rays out-coupled from the projection system, a curved waveguide comprising an input diffractive optical element and an output diffractive optical element. The output diffractive optical element performs the function of an output optical compensator that converts the light beams of a distorted image at the output of the waveguide into parallel light beams to output an undistorted image. Augmented reality glasses comprising an augmented reality device are also proposed. There is provided the ability to project a virtual image without aberrations, distortions and doubling of the image.