1. A system for calibrating a lidar subsystem and a video subsystem, the system comprising: a lidar subsystem configured to direct a first beam toward a reference grid target and generate a lidar measurement for each of a plurality of points on the reference grid target for the first beam, wherein the reference grid target comprises a plurality of highly reflective tapes along each edge of the reference grid target and a plurality of video targets interspersed throughout a surface of the reference grid target; a video subsystem configured to provide a plurality of two-dimensional images of the reference grid target; and a processor configured to: receive, from the lidar subsystem, the lidar measurement for each of the plurality of points on the reference grid target, receive, from the video subsystem, the plurality of images of the reference grid target, determine a lidar measurement for each of the plurality of highly reflective tapes along each edge of the reference grid target from among the received lidar measurement for each of the plurality of points on the reference grid target; determine 3D coordinates of each of the plurality of video targets based at least on the lidar measurement for each of the plurality of highly reflective tapes along each edge of the reference grid target; and relate the 3D coordinates of each of the plurality of video targets with pixel coordinates of each of the plurality of video targets, wherein the pixel coordinates are obtained from an image of the reference grid target.