Systems and methods for calibrating an optical tracking system, using a non-planar rigid artifact, are disclosed. Absolute calibration data comprising conditions for validity is determined based on the known geometry of the artifact. The optical tracking system is placed in the conditions for validity. A relative movement between the artifact and the optical sensor is produced across a working volume. Positional data is acquired for each of the plurality of fiducials using the optical sensor. An artifact geometry is determined based on the positional data and the absolute calibration data. The optical system is placed in a different condition. Relative movement is produced between the artifact and the optical sensor across the working volume. Raw positional data is acquired foreach of the plurality of fiducials using the optical sensor. Relative calibration parameters of the optical tracking system are determined based on the raw positional data and the artifact geometry.