3DL vision calibration - http://www.fanucrobotics.com/products/intelligent-solutions.aspx
This demonstration explains how the FANUC Robotics iRVision 3D vision system is calibrated. The first step is to teach a user frame to the calibration grid. One method to teach the user frame is with a pointer tool; a new method is to use the camera moving it over the calibration grid and taking pictures of the grid. Note: The Calibration Grid user frame can be taught before the camera is calibrated by using a feature called visual TCP (Tool Center Point).
Now that the robot knows where (in space) the calibration grid is located, the camera location is calibrated to the robot.
The camera is calibrated by taking a picture of the calibration grid from two different heights.