Patent ID: 8022990

Claim:
A system facilitating on-line calibration of an imaging camera, the system comprising: a first sensor positioned with respect to an imager; a second sensor positioned with respect to a camera source; a transmitter positioned with respect to an object to be imaged; wherein a first off-line calibration characterizes a transformation from a coordinate system of the imager to a coordinate system of the first sensor positioned with respect to the imager and a second off-line calibration characterizes a transformation from a coordinate system of the camera source to a coordinate system of the second sensor positioned with respect to the camera source; wherein intrinsic parameters of the camera source are quantified by a transformation from the coordinate system of the imager to the coordinate system of the camera source based on the first and second off-line calibrations and information from the first and second sensors and the transmitter; wherein at least one of the imager or the camera source are configured to mount to a support member; wherein the first sensor, the second sensor, and the transmitter are configured to facilitate tracking a deflection of the support member; and wherein the intrinsic parameters of the camera source are quantified by a transformation Imager T Cam = Imager T Rx2 · Rx2 T Tx · Tx T Rx1 · Rx2 T Cam , wherein Imager T Rx2 is a coordinate system transformation from the coordinate system of the imager to the coordinate system of the first sensor, Rx1 T Cam is a coordinate system transformation from the coordinate system of the camera source to the coordinate system of the second sensor and Rx2 T Tx and Tx T Rx1 are d namic coordinate system transformations provided by tracking information from the first and second sensors and the transmitter.