Disclosed are various embodiments for an integrated obstacle detection and payload centering sensor system. A robotic drive unit (RDU) captures, with a downward facing camera mounted to itself, an image of fiducial located on the ground. The RDU then positions itself over the fiducial and subsequently rotates. As it rotates, the RDU captures a point cloud of the surround vicinity a forward-facing three-dimensional camera mounted to itself. The RDU then identifies in the point cloud at least two legs of a storage unit positioned over the robotic drive unit. Subsequently, the RDU determines a location for each of the at least two legs relative to the fiducial and triangulates a center of the storage unit based at least in part on the location of each of the at least two legs. The RDU then centers itself underneath the storage unit.