A system performs calibration of sensors mounted on a vehicle, for example, lidar and camera sensors mounted on a vehicle, for example, an autonomous vehicle. The system receives a lidar scan and camera image of a view and determines a lidar-to-camera transform based on the lidar scan and the camera image. The system may use a pattern, for example, a checkerboard pattern in the view for calibration. The pattern is placed close to the vehicle to determine an approximate lidar-to-camera transform and then placed at a distance from the vehicle to determine an accurate lidar-to-camera transform. Alternatively, the system determines edges in the lidar scan and the camera image and aligns features based on real-world objects in the scene by comparing edges.