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Thanks for the very informative post. I do not know if I am bad at explaining my problem, but both your and rbtying's answer assume I have a reference/knowledge of where the robot arm and the kinect is according to some reference frame. But the fact is that I do not, I am at the very basics here. I have the camera mounted at some random place and the same goes with the robot arm, no knowledge of their position and orientation to any frame, but it is this knowledge I seek. I have tried to use markers to figure out the relative position and orientation between the camera and the base of the robot arm, but it have proven to be unsuccessful. I therefore try to hear if there exist other ways of obtaining the relative pose between two frames where there exist no prior knowledge of any transformation.