A calibration system and method for Light detection and Ranging (LiDAR)-camera calibration is provided. The calibration system receives a plurality of images that includes a calibration pattern and a plurality of point cloud data (PCD) frames that includes the calibration pattern. The calibration system extracts a first normal to a first plane of the calibration pattern in a first PCD frame of the received plurality of PCD frames and further extracts a second normal to a second plane of the calibration pattern in a first image frame of the received plurality of image frames. The calibration system computes a transform between the extracted first normal and the extracted second normal and based on the computed transform, calibrates the LiDAR sensor with the camera.