A computer-implemented method, comprising: obtaining a plurality of post-LIDAR fusion point clouds that are based on outputs from a plurality of LIDAR devices installed at one autonomous driving vehicle, ADV; filtering the obtained plurality of point clouds to obtain a first set of points within a region of interest; obtaining a first plurality of coordinate values on an axis in a vertical direction of the first set of points, wherein each point in the first set of points corresponds to one coordinate value on the axis in the vertical direction; characterised by the steps of: obtaining a distribution of the first plurality of coordinate values to determine a quantity of peaks in the distribution of the first plurality of coordinate values; and determining whether all extrinsic matrices associated with the plurality of LIDAR devices are valid based on the quantity of peaks in the distribution of the first plurality of coordinate values, wherein the extrinsic matrices are utilized to transform subsequent point clouds to a uniformed format for perception of driving environment of the ADV; wherein determining whether all extrinsic matrices associated with the plurality of LIDAR devices are valid comprises: determining that all extrinsic matrices are valid when a number of peaks in the distribution of the first plurality of coordinate values is below a first predetermined threshold, and determining that all extrinsic matrices are invalid when the number of peaks in the distribution of the first plurality of coordinate values is above a second predetermined threshold; wherein all extrinsic matrices associated with the LIDAR devices are invalid when more than one peak exists in the distribution; and wherein obtaining the distribution of the first plurality of coordinate values comprises generating a histogram of the first plurality of coordinate values. obtaining a plurality of post-LIDAR fusion point clouds that are based on outputs from a plurality of LIDAR devices installed at one autonomous driving vehicle, ADV; filtering the obtained plurality of point clouds to obtain a first set of points within a region of interest; obtaining a first plurality of coordinate values on an axis in a vertical direction of the first set of points, wherein each point in the first set of points corresponds to one coordinate value on the axis in the vertical direction; characterised by the steps of: obtaining a distribution of the first plurality of coordinate values to determine a quantity of peaks in the distribution of the first plurality of coordinate values; and determining whether all extrinsic matrices associated with the plurality of LIDAR devices are valid based on the quantity of peaks in the distribution of the first plurality of coordinate values, wherein the extrinsic matrices are utilized to transform subsequent point clouds to a uniformed format for perception of driving environment of the ADV; wherein determining whether all extrinsic matrices associated with the plurality of LIDAR devices are valid comprises: determining that all extrinsic matrices are valid when a number of peaks in the distribution of the first plurality of coordinate values is below a first predetermined threshold, and determining that all extrinsic matrices are invalid when the number of peaks in the distribution of the first plurality of coordinate values is above a second predetermined threshold; wherein all extrinsic matrices associated with the LIDAR devices are invalid when more than one peak exists in the distribution; and wherein obtaining the distribution of the first plurality of coordinate values comprises generating a histogram of the first plurality of coordinate values. obtaining a distribution of the first plurality of coordinate values to determine a quantity of peaks in the distribution of the first plurality of coordinate values; and determining whether all extrinsic matrices associated with the plurality of LIDAR devices are valid based on the quantity of peaks in the distribution of the first plurality of coordinate values, wherein the extrinsic matrices are utilized to transform subsequent point clouds to a uniformed format for perception of driving environment of the ADV; wherein determining whether all extrinsic matrices associated with the plurality of LIDAR devices are valid comprises: determining that all extrinsic matrices are valid when a number of peaks in the distribution of the first plurality of coordinate values is below a first predetermined threshold, and determining that all extrinsic matrices are invalid when the number of peaks in the distribution of the first plurality of coordinate values is above a second predetermined threshold; wherein all extrinsic matrices associated with the LIDAR devices are invalid when more than one peak exists in the distribution; and wherein obtaining the distribution of the first plurality of coordinate values comprises generating a histogram of the first plurality of coordinate values. determining that all extrinsic matrices are valid when a number of peaks in the distribution of the first plurality of coordinate values is below a first predetermined threshold, and determining that all extrinsic matrices are invalid when the number of peaks in the distribution of the first plurality of coordinate values is above a second predetermined threshold; wherein all extrinsic matrices associated with the LIDAR devices are invalid when more than one peak exists in the distribution; and wherein obtaining the distribution of the first plurality of coordinate values comprises generating a histogram of the first plurality of coordinate values.