Systems and methods are provided to generate on-site calibration parameters for improved calibration of a LIDAR/camera system. Data is acquired from two or more sensors (for example, a camera and a LIDAR scanner) used with a nodal camera rig or aligned in another way. Edges in the two sets of data are identified. The data is partitioned for example by using a grid. Offset vectors between the edges in the two sets of data are identified. Calibration parameters are generated based on the offset vectors.