It was pretty impressive overall, though in live TV, when the images have a glitch in the tracking, there is not much you can do about it.
I remember one AR shot that didn't look as though it had tracked quite right, and I was able to compare with the dance-off when it worked correctly.
Very occasionally in the shots showing rehearsal scenes, or other background stuff, you get a glimpse of the line-up images used to set up the graphics.
I think "Click" showcased some of the technology in a recent programme.
Chris