1. A robotic system comprising: a master control device having a master frame; an image capturing system having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms; a tool disposed within a field of view of the image capturing system and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms; and at least one processor programmed to identify pose indicating points of the tool from information in one or more images captured by the image capturing system, determine an estimated transform for an unknown one of the image and tool frame transforms by using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform by using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of the master control device by using the updated master-to-tool transform.