Due　to　its　robust　performance　and　wide　potential　application,　the　fusion　of　visual　and　inertial　sensors　for　motion　estimation　has　attracted　significant　attention　recently.　For　this　fusion,　extrinsic　calibration　is　a　prerequisite.　But　most　existing　methods　need　a　special　configuration　in　which　the　camera　can　observe　the　inertial　sensor.　In　this　paper　we　present　an　extrinsic　calibration　method　for　visual　and　inertial　sensors　in　a　general　configuration　in　which　the　visual　and　inertial　sensors　can　not　observe　each　other.　The　proposed　method　introduces　a　total　station　as　a　reference.　The　total　station　can　be　adjusted　to　be　parallel　to　the　ground-plane　to　which　the　inertial　sensor　can　provide　the　rotation.　Then　the　rotation　between　the　fisheye　camera　and　the　total　station　is　deduced　via　a　homography.　Finally　the　rotation　between　the　fisheye　camera　and　the　inertial　measurement　unit　can　be　obtained.　We　implement　the　proposed　method　on　our　lunar　rover　prototype.　Experiment　results　show　the　validity　of　the　proposed　method.