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Cone beam computed tomography (CBCT) is widely applied for medical and industrial use recently. But artifacts are always induced due to the misalignments of CBCT components. An improved Feldkamp-Davis-Kress (FDK) algorithm using camera calibration technique for image reconstruction of misaligned CBCT is applied here to reduce the artifacts. Simulation results show that our improved FDK algorithm can reduce the artifacts significantly compared with standard FDK algorithm in misaligned CBCT system. Through the improved FDK algorithm presented here, we can reconstruct misaligned CBCT images efficiently.