A computer-implemented method comprising: obtaining, for each time of a plurality of times of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a plurality of times of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot, wherein the using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot comprises building a plurality of equations relating the plurality of poses of the camera system across the first sampling schedule to the plurality of poses of the robot across the second sampling schedule, the relating being a function of the reference coordinate frame and the reference point of the camera system relative to the pose of the robot; and the determining comprises finding a solution for the plurality of equations to determine the indication of the reference coordinate frame and the indication of the reference point of the camera system. obtaining, for each time of a plurality of times of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a plurality of times of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot, wherein the using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot comprises building a plurality of equations relating the plurality of poses of the camera system across the first sampling schedule to the plurality of poses of the robot across the second sampling schedule, the relating being a function of the reference coordinate frame and the reference point of the camera system relative to the pose of the robot; and the determining comprises finding a solution for the plurality of equations to determine the indication of the reference coordinate frame and the indication of the reference point of the camera system.