  In this paper we perform an experimental comparison of three different target
based 3D-LIDAR camera calibration algorithms. We briefly elucidate the
mathematical background behind each method and provide insights into practical
aspects like ease of data collection for all of them. We extensively evaluate
these algorithms on a sensor suite which consists multiple cameras and LIDARs
by assessing their robustness to random initialization and by using metrics
like Mean Line Re-projection Error (MLRE) and Factory Stereo Calibration Error.
We also show the effect of noisy sensor on the calibration result from all the
algorithms and conclude with a note on which calibration algorithm should be
used under what circumstances.
