Robot positioning is facilitated by obtaining, for each time 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 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.