1. A method for determining calibration between a machine vision system and a robot, the method comprising: obtaining, using a camera fixed in space, an initial image of a calibration object fixed to an effector of the robot as the robot occupies an initial pose within a workplace for the robot, and a subsequent image of the calibration object as the robot occupies a subsequent pose within the workplace for the robot, the initial pose and the subsequent pose are different, the calibration object comprising a first object feature and a second object feature, the first object feature and the second object feature located at a fixed, known distance relative to one another, the robot having a robot coordinate system, the camera having a camera coordinate system, the effector having an effector coordinate system, the calibration object having an object coordinate system; identifying a camera-robot transform between the camera coordinate system and the robot coordinate system; identifying an object-effector transform between the object coordinate system and the effector coordinate system; locating a first initial image feature and a second initial image feature in the initial image and a first subsequent image feature and a second subsequent image feature in the subsequent image, the first initial image feature and the first subsequent image feature corresponding to the first object feature and the second initial image feature and the second subsequent image feature corresponding to the second object feature; calculating, using the fixed, known distance, the initial pose, the subsequent pose, the camera-robot transform, and the object-effector transform, a predicted first initial image feature and a predicted second initial image feature for the initial image and a predicted first subsequent image feature and a predicted second subsequent image feature for the subsequent image, the predicted first initial image feature and the predicted first subsequent image feature corresponding to the first object feature and the predicted second initial image feature and the predicted second subsequent image feature corresponding to the second object feature; minimizing, by varying the camera-robot transform or the object-effector transform, a discrepancy between at least one of the first initial image feature and the predicted first initial image feature, the second initial image feature and the predicted second initial image feature, the first subsequent image feature and the predicted first subsequent image feature, and the second subsequent image feature and the predicted second subsequent image feature, thereby producing optimized transforms; and calibrating the machine vision system and the robot using the optimized transforms.