We present nanometer-scale physical structures and analysis algorithms for characterizing tip width and shape for critical dimension atomic force microscopy (CD-AFM). Automated CD-AFM measurements will be used in the future, and a robust methodology is demonstrated for ensuring long-term repeatability of width measurements on sub-100 nm structures. Structures are designed and chosen for their width uniformity on the sub-nm scale, as well as for their well defined shapes that can be deconvolved from the scan data to yield a precise image of the tip. We address the contributions of tool precision and linearity, tip shape and line-edge roughness of the calibration artifact to overall measurement stability.