Imaging-based sensor calibration

Sensor calibration relative to common coordinates with depth, height and shift dimensions includes obtaining, via a mobile apparatus camera, an image of a calibration target. The calibration target includes first and second surfaces at first and second predefined depths, bearing first and second sets of indicia at heights encoded by the indicia and having predefined shifts. The method includes decoding the heights; generating first and second transforms between image coordinates and first and second planes at predefined common coordinate depths; applying the transforms to each of a plurality of calibration pixels to generate position pairs including calibration positions on each of the first and second planes; determining a common coordinate camera position from an intersection of calibration lines defined by the position pairs; and storing the camera position in association with a location of the mobile apparatus, for common coordinate mapping of subsequent images captured at subsequent mobile apparatus locations.