There is indeed a Lupin III vs Detective Conan crossover. The manga series was created by prolific creator Go Nagai, who also experimented with mystery-solving elements in his popular comic book and anime series, Lupin III. Consequently, the two series share some similarities, most notably in their use of expressive pencil sketches to depict settings and characters.
In 1997, TV Asahi produced an acclaimed 52-episode anime adaptation of the manga that followed Shinichi Kudo (Lupin III) as he embarked on various investigations crossbred with a humorous side story involving Fujiko Mine (a beautiful actress who loves gambling). While primarily aimed at Japanese audiences unfamiliar with the original manga material, international adaptations have been made for other regions such as Australia and North America.