One or more systems, methods, routines and/or techniques for automated frame of reference calibration for augmented reality are described. One or more systems, methods, routines and/or techniques may allow for calibration of an Augmented Reality (AR) system, for example, by automatically calibrating the frames of reference of virtual objects and/or a camera. One example calibration routine and/or technique may determine and/or calculate a mapping or transform from a frame of reference of a virtual object (e.g., a CAD model) to a coordinate frame associated with the tracking system. Another example calibration routine and/or technique may determine and/or calculate a mapping or transform from a camera lens frame of reference to a frame of reference of the whole camera as determined by a tracking system. These routines and/or techniques may calibrate an AR system to provide rapid, precise alignment between virtual content and a live camera view of a real scene.