An imaging calibration system, comprising: a calibration jig device, including: a calibration enclosure to enclose at least a portion of a volume with at least a first wall extending a first distance from a first end of the calibration enclosure to a second end of the calibration enclosure and a second wall extending a second distance from the first end of the calibration enclosure to the second end of the calibration enclosure; a first row of rods including at least two rods (190, 191, 192) positioned in a first plane including a first rod having a first external perimeter and extending along a first axis between the first wall and the second wall and a second rod having a second external perimeter and extending along a second axis between the first wall and the second wall, wherein the first rod and the second rod form an acute angle relative to one another and the first external perimeter is different from the second external perimeter; and a jig tracking device fixed to the calibration enclosure; an ultrasound transducer operable to move relative to the calibration jig and emit an ultrasound signal in an ultrasound plane; an ultrasound tracking device fixed relative to the ultrasound transducer; a tracking system including a localizer (52, 60) and operable to track the location of the jig tracking device and the ultrasound tracking device; and a calibration processor operable to execute instructions to calibrate the ultrasound plane relative to the ultrasound transducer relative to the ultrasound tracking device, based on combining the location of the jig tracking device, the location of the ultrasound tracking device, the known position of the rods relative to the jig tracking device, and determined centers of the rods in the ultrasound plane, wherein the relative external perimeters of the rods in the row are used to identify the first row of rods. a calibration jig device, including: a calibration enclosure to enclose at least a portion of a volume with at least a first wall extending a first distance from a first end of the calibration enclosure to a second end of the calibration enclosure and a second wall extending a second distance from the first end of the calibration enclosure to the second end of the calibration enclosure; a first row of rods including at least two rods (190, 191, 192) positioned in a first plane including a first rod having a first external perimeter and extending along a first axis between the first wall and the second wall and a second rod having a second external perimeter and extending along a second axis between the first wall and the second wall, wherein the first rod and the second rod form an acute angle relative to one another and the first external perimeter is different from the second external perimeter; and a jig tracking device fixed to the calibration enclosure; a calibration enclosure to enclose at least a portion of a volume with at least a first wall extending a first distance from a first end of the calibration enclosure to a second end of the calibration enclosure and a second wall extending a second distance from the first end of the calibration enclosure to the second end of the calibration enclosure; a first row of rods including at least two rods (190, 191, 192) positioned in a first plane including a first rod having a first external perimeter and extending along a first axis between the first wall and the second wall and a second rod having a second external perimeter and extending along a second axis between the first wall and the second wall, wherein the first rod and the second rod form an acute angle relative to one another and the first external perimeter is different from the second external perimeter; and a jig tracking device fixed to the calibration enclosure; an ultrasound transducer operable to move relative to the calibration jig and emit an ultrasound signal in an ultrasound plane; an ultrasound tracking device fixed relative to the ultrasound transducer; a tracking system including a localizer (52, 60) and operable to track the location of the jig tracking device and the ultrasound tracking device; and a calibration processor operable to execute instructions to calibrate the ultrasound plane relative to the ultrasound transducer relative to the ultrasound tracking device, based on combining the location of the jig tracking device, the location of the ultrasound tracking device, the known position of the rods relative to the jig tracking device, and determined centers of the rods in the ultrasound plane, wherein the relative external perimeters of the rods in the row are used to identify the first row of rods.