1. A system for mapping coordinates between images and tracking systems, comprising: a calibration tool having a fixed geometric shape, the calibration tool including first sensors associated with an imaging mode and second sensors associated with a tracking mode, the first and second sensors being distributed and mounted at known locations on the fixed geometric shape; an imaging system configured to locate the first sensors in a field of view of the imaging system to determine a position of the calibration tool in image space; a tracking system configured to track the second sensors to determine a same position of the calibration tool in tracking space; and a sensor module configured to map the image space and the tracking space in a common coordinate system based on artifacts of the calibration tool.