A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.