Minerva is a multiplatform framework that provides a high level language to specify Augmented Reality applications in a very easy way, equivalent to Blender GameEngine. More info, please visit theminervaproject.wordpress.com
SudaRA is a C++ framework based on ARToolKit for development of Augmented Reality applications, offering features such as support for 3D models, sound, network, multiple-marker tracking, among others through a simple and well-structured interface.