1. A method for determining calibration between a machine vision system and a robot, the method comprising: fixing one or more cameras in space, each of the one or more cameras having a field of view that covers at least part of a workplace for the robot; fixing a calibration object to an end effector of the robot; obtaining a plurality of images of the calibration object as the robot moves the calibration object to a plurality of different poses within the workplace for the robot; identifying transforms from each of the one or more cameras into a robot coordinate system, wherein a discrepancy between a set of observed features in the plurality of images and a set of predicted image features is optimized; and calibrating the machine vision system and the robot using the identified transforms.