[1] [1] Fremont V, Bonnifait P. Extrinsic calibration between a multi-layer lidar and a camera[C]//International Conference on Multisensor Fusion and Integration for Intelligent Systems of IEEE, 2008: 214-219.

[3] [3] ZHOU L, DENG Z. Extrinsic calibration of a camera and a lidar based on decoupling the rotation from the translation[C]//Intelligent Vehicles Symposium of IEEE, 2012: 642-648..

[4] [4] ZHOU L, LI Z, Kaess M. Automatic extrinsic calibration of a camera and a 3d lidar using line and plane correspondences[C]//International Conference on Intelligent Robots and Systems (IROS)of IEEE, 2018: 5562-5569.

[5] [5] Geiger A, Moosmann F, Car O, et al. Automatic camera and range sensor calibration using a single shot[C]//Proceedings of IEEE International Conference on Robotics and Automation, 2012: 3936-3943.

[6] [6] Horaud R, Dornaika F. Hand-eye calibration[J]. The International Journal of Robotics Research, 1995, 14(3): 195-210.

[7] [7] Ishikawa R, Oishi T, Ikeuchi K. Lidar and camera calibration using motions estimated by sensor fusion odometry[C]//International Conference on Intelligent Robots and Systems(IROS) of IEEE, 2018: 7342-7349.

[8] [8] Schneider N, Piewak F, Stiller C, et al. RegNet: multimodal sensor registration using deep neural networks[C]//Intelligent Vehicles Symposium (IV) of IEEE, 2017: 1803-1810.

[9] [9] Iyer G, Ram R K, Murthy J K, et al. CalibNet: geometrically supervised extrinsic calibration using 3D spatial transformer networks[C]// International Conference on Intelligent Robots and Systems (IROS) of IEEE, 2018: 1110-1117.

[10] [10] ZHANG Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11): 1330-1334