An electronic light detection circuit for detecting an intensity modulated light signal on a photosensitive element under backlight condition. Each of the criterion is then associated with a value obtained by the first or second matching method to create at least one criterion-value pair, and structured data is created based on the at least one criterion-value pair. This data is then applied to a non-linear mathematical modeling system that is capable of scaling the data to give a dimensionless value. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system.