A method of mapping coordinates in a sensor coordinate frame of a depth sensor to coordinates in an arm coordinate frame of a robotic arm in a workspace, the robotic arm comprises an end effector, the method comprising: receiving an input point from the depth sensor, the input point comprising coordinates indicative of a location in the sensor coordinate frame, the location being in the workspace; creating tetrahedrons using a Delaunay triangulation on sensor calibration points (112, 508-514) collected throughout the workspace, the sensor calibration points collected throughout the workspace comprise sensor calibration points within proximity of the input point; identifying the sensor calibration points (112, 508-514) within proximity of the input point, a sensor calibration point comprises first coordinates of the end effector in the sensor coordinate frame, the first coordinates previously collected during calibration with the end effector at a given position within the workspace, identifying arm calibration points that respectively correspond to the sensor calibration points, an arm calibration point that corresponds to the sensor calibration point comprises second coordinates of the end effector in the arm coordinate frame, the second coordinates previously collected during the calibration with the end effector at the given position within the workspace, wherein the arm calibration points are retained by a data repository and respectively correspond to the sensor calibration points; and computing, by a processor, an estimated point that maps to the input point, the estimated point comprising coordinates indicative of the location in the arm coordinate frame, the estimated point computed based upon: the sensor calibration points; and the arm calibration points, wherein said identifying sensor calibration points (112, 508-514) within proximity of the input point comprises identifying a preset number of sensor calibration points nearest to the input point; and wherein computing the estimated point that maps to the input point further comprises: creating a particular tetrahedron that comprises the input point, the particular tetrahedron created with vertices being from the preset number of sensor calibration points nearest to the input point; computing barycentric coordinates of the input point with respect to vertices of the particular tetrahedron; and interpolating a value of the estimated point that maps to the input point from the particular tetrahedron based upon the barycentric coordinates and arm calibration points that respectively correspond to the vertices of the particular tetrahedron. receiving an input point from the depth sensor, the input point comprising coordinates indicative of a location in the sensor coordinate frame, the location being in the workspace; creating tetrahedrons using a Delaunay triangulation on sensor calibration points (112, 508-514) collected throughout the workspace, the sensor calibration points collected throughout the workspace comprise sensor calibration points within proximity of the input point; identifying the sensor calibration points (112, 508-514) within proximity of the input point, a sensor calibration point comprises first coordinates of the end effector in the sensor coordinate frame, the first coordinates previously collected during calibration with the end effector at a given position within the workspace, identifying arm calibration points that respectively correspond to the sensor calibration points, an arm calibration point that corresponds to the sensor calibration point comprises second coordinates of the end effector in the arm coordinate frame, the second coordinates previously collected during the calibration with the end effector at the given position within the workspace, wherein the arm calibration points are retained by a data repository and respectively correspond to the sensor calibration points; and computing, by a processor, an estimated point that maps to the input point, the estimated point comprising coordinates indicative of the location in the arm coordinate frame, the estimated point computed based upon: the sensor calibration points; and the arm calibration points, the sensor calibration points; and the arm calibration points, wherein said identifying sensor calibration points (112, 508-514) within proximity of the input point comprises identifying a preset number of sensor calibration points nearest to the input point; and wherein computing the estimated point that maps to the input point further comprises: creating a particular tetrahedron that comprises the input point, the particular tetrahedron created with vertices being from the preset number of sensor calibration points nearest to the input point; computing barycentric coordinates of the input point with respect to vertices of the particular tetrahedron; and interpolating a value of the estimated point that maps to the input point from the particular tetrahedron based upon the barycentric coordinates and arm calibration points that respectively correspond to the vertices of the particular tetrahedron. creating a particular tetrahedron that comprises the input point, the particular tetrahedron created with vertices being from the preset number of sensor calibration points nearest to the input point; computing barycentric coordinates of the input point with respect to vertices of the particular tetrahedron; and interpolating a value of the estimated point that maps to the input point from the particular tetrahedron based upon the barycentric coordinates and arm calibration points that respectively correspond to the vertices of the particular tetrahedron.