1. An apparatus with composite sensor calibration, comprising: a plane extractor to extract at least one plane from first data obtained by a first sensor; a first feature point extractor to extract a first feature point from the first data based on the at least one plane; a second feature point extractor to project the first feature point onto second data obtained by a second sensor and to extract a second feature point corresponding to the first feature point from a part of the second data onto which the first feature point is projected; and a transformation parameter calculator to calculate a coordinate transformation parameter between the first sensor and the second sensor using the first feature point and the second feature point.