A Survey of Extrinsic Parameters Calibration Techniques for Autonomous Devices

In recent years, autonomous driving devices have been widely used in civil traffic, disaster environment, commercial run and many other applications in real world, due to the multi-sensor fusion technique is widely applied to sense surroundings. The aim of this paper is to review the methods of range-image extrinsic parameters calibration, which is a popular choice of sensors fusion for robotics perception in detail. More than 50 existing methods are categorized into two main groups: offline method and online method, and the light of each typical method is introduced in each category. Finally, the discussion is presented. It helps to analyze the advantages and limitations of different approaches for the design and setup in the autonomous driving devices.