Abstract: A method is provided for calibrating a manipulator and an external sensor. The method includes generating a first cloud map using depth information collected using a depth sensor, and generating a second cloud map using contact information collected using a contact sensor, which is coupled to an end effector of the manipulator. Thereafter, the first cloud map and the second cloud map are aligned to recover extrinsic parameters using the iterative closest point algorithm. The depth sensor is stationary relative to a base frame of the manipulator, and the depth information corresponding to a rigid structure is collected by capturing depth information from multiple vantage points by navigating the manipulator. The contact information is collected by moving an end effector of the manipulator over the rigid structure.