This paper presents a method for calibration of a sheet of light range camera using robot motion information from odometers instead of an absolute reference object in a static scene. The calibration is integrated with the robot position estimation, and performed during normal operation of the robot. This makes it possible to detect when parameters change during operation, and to recalibrate automatically. To estimate the calibration parameters as well as the robot position relative to the surface a Kalman filter is used. The system is highly nonlinear, and a normal extended Kalman filter will often fail to converge to the correct value. This is solved by changing the coordinate frame in which the filtering occurs, taking into account the resulting correlations between the estimate and measurement. The calibration assumes that initial estimates of the calibration parameters are available