Systems and methods for determining a pose of a sensor on a robot are disclosed herein. According to at least one non-limiting exemplary embodiment, a pose of a sensor may be determined with respect to a base link frame origin based on a measured discrepancy between localization data of an object by the sensor and another sensor, the discrepancy corresponding to an error in a pose of the sensor. Pose graph optimization may further be utilized to calibrate all sensors of a robot using digital transformations or may be utilized to diagnose errors in poses of one or more sensors.