Methods and systems for calibrating instruments within an imaging system, such as a surgical imaging system

A method of tracking an object through a scene, the method comprising:

• capturing images of the object with a plurality of cameras;
• generating a representation of the object based on the captured images;
• determining a reference frame of the object based on the generated representation of the object;
• determining a first transform between the reference frame of the object and a reference frame of the cameras;
• determining a second transform between the reference frame of the cameras and a reference frame of a plurality of trackers;
• determining a third transform between the reference frame of the trackers and a reference frame of a tracking structure attached to the object;
• and
• determining a fourth transform between the reference frame of the object and the reference frame of the tracking structure based on the first transform, the second transform, and the third transform.

An imaging system, comprising:

• a plurality of cameras configured to capture images of an object having a tracking structure attached thereto;
• a plurality of trackers configured to capture positional data of the tracking structure;
• a processing device communicatively coupled to the cameras and the trackers;
• and
• a non-transitory computer readable storage medium storing instructions that, when executed by the processing device, cause the processing device to—
• generate a representation of the object based on the captured images;
• determine a reference frame of the object based on the generated representation of the object;
• determine a first transform between the reference frame of the object and a reference frame of the cameras;
• determine a second transform between the reference frame of the cameras and a reference frame of the trackers;
• determine a third transform between the reference frame of the trackers and a reference frame of the tracking structure;
• and
• determine a fourth transform between the reference frame of the object and the reference frame of the tracking structure based on the first transform, the second transform, and the third transform.

An imaging system, comprising:

• a plurality of first cameras configured to capture images of an object having a tracking structure attached thereto;
• a plurality of second cameras configured to capture positional data of the tracking structure;
• a processing device communicatively coupled to the first cameras and the second cameras;
• and
• a non-transitory computer readable storage medium storing instructions that, when executed by the processing device, cause the processing device to—
• generate a representation of the object based on the captured images;
• determine a reference frame of the object based on the generated representation of the object;
• determine a first transform between the reference frame of the object and a reference frame of the first cameras;
• determine a second transform between the reference frame of the first cameras and a reference frame of the second cameras;
• determine a third transform between the reference frame of the second cameras and a reference frame of the tracking structure;
• and
• determine a fourth transform between the reference frame of the object and the reference frame of the tracking structure based on the first transform, the second transform, and the third transform.