To realize successful 3D reconstruction of cultural relics, urban scenes or the creation of VR, the use of both laser measurement instrument (LMI) and vision data in a same framework has proved to be a powerful technique. A necessary condition to fuse these kinds of data is to accurately calibrate the LMI and photographic sensors. The proposed method is based on observing a planar checkerboard pattern and solving for the constraints between views of the pattern from cameras and LMI. We start with a closed-form solution that minimizes the algebraic error from this constraint, which provides as the initial conditions for the subsequent nonlinear refinement with Lavenberg-Marquardt algorithm. The high-precision calibration results of both computer simulated data and experimental data are given.