Improved calibration of a vehicle sensor based on static objects detected within an environment being traversed by the vehicle is disclosed. A first sensor such as a LiDAR can be calibrated to a global coordinate system via a second pre-calibrated sensor such as a GPS IMU. Static objects present in the environment are detected such as signage. Point cloud data representative of the static objects are captured by the first sensor and a first transformation matrix for performing a transformation from a local coordinate system of the first sensor to a local coordinate system of the second sensor is iteratively redetermined until a desired calibration accuracy is achieved. Transformation to the global coordinate system is then achieved via application of the first transformation matrix followed by application of a second known transformation matrix to transition from the local coordinate system of the second pre-calibrated sensor to the global coordinate system.