1. A computer-implemented method for automatically calibrating an RGB-D sensor and an imaging device using a transformation matrix, the method comprising: using a medical image scanner to acquire a first dataset representative of an apparatus attached to a downward facing surface of a patient table, wherein corners of the apparatus are located at a plurality of corner locations; identifying the plurality of corner locations based on the first dataset; using the RGB-D sensor to acquire a second dataset representative of a plurality of calibration markers displayed on an upward facing surface of the patient table at the plurality of corner locations; identifying a plurality of calibration marker locations based on the second dataset; generating the transformation matrix by aligning the first dataset and the second dataset using the plurality of corner locations and the plurality of calibration marker locations; adding a translation to the transformation matrix corresponding to a maximum height associated with the apparatus.