Method and system for geo-referencing and visualization of detected contaminants

A system and method are provided for visualizing a scene that is monitored for substance contamination. The scene is scanned with a substance detector to detect a substance, such as a harmful chemical or biological substance. The position of the substance is determined. Graphical element data that represents the detected substance in the scene is generated. A displayed view of the scene is augmented with the graphical element data based on the position of the detected substance to show the detected substance in the view of the scene and provide the user with the location and type of detected substance shown with reference to the environment.