A system and method for robotic charger alignment comprises receiving at a robotic charger, a device identification of a receiving device; retrieving a reference object (RO) of the receiving device from a database indexed by the device identification; imaging the receiving device to form at least two images having an angle therebetween with respect to a common location on the receiving device; calculating, by an alignment processing device, a stereo disparity depth map from the at least two images; acquiring an acquired point cloud (APC) from the stereo disparity depth map; generating, by the alignment processing device, rotation and translation data by aligning the RO to the APC; inferring an inlet port location from the RO; and moving the robotic charger proximal to the inlet port using the RO, Rot and T data.