A sensor calibration target configured for sensor calibration relative to a common frame of reference is disclosed. The sensor calibration target comprises a first surface at a first predefined depth bearing a first set of indicia at respective first heights and having respective first predefined shifts, each of the first indicia encoding a corresponding first height. The sensor calibration target further comprises a second surface at a second predefined depth bearing a second set of indicia at respective second heights and having respective second predefined shifts, each of the second indicia encoding a corresponding second height.