Abstract: Systems and methods of optical registration in a computer-aided system includes a control system. The control system is configured to provide a first registration indicator having a first indicator pose in a workspace; determine a first robotic device pose in a robotic device reference frame; obtain a first image of the first registration indicator; determine, based on the first image, the first indicator pose in an imaging device reference frame; provide a second registration indicator having a second indicator pose in the workspace; determine a second robotic device pose in the robotic device reference frame; obtain a second image of the second registration indicator; determine, based on the second image, the second indicator pose in the imaging device reference frame; and determine a registration transform between the robotic device reference frame and the imaging device reference frame based on correspondences between the robotic device poses and the indicator poses.