Recent years, people pay great attention to the fusion of different kinds of sensors include camera, radar, LiDAR and so on. Since each sensor has its own advantage and disadvantage in automatic drive and obstacle detection, the fusion of sensors is more robust and reliable. In this paper, we present a novel target calibration of LiDAR-camera system. We use a 3D Flash LiDAR which has a resolution of 320×240, much cheaper and more reliable than Scanning LiDAR, and we use the camera which has a resolution of 1280×1024. We propose a novel target calibration method. The 3D target can provide both geometric features and visual features. This method is fast, easy to estimate all the six parameters of the extrinsic calibration. Our experiments validate our method and show that it achieves good accuracy.