Lidar technology became more and more popular in last decade. Many researchers contribute their innovations into the development of this new technology. The latest hot spot is the application of the Mobile Lidar System (MLS). To get accurate results from MLS data, one necessary procedure is to ensure the performance of the systems within the tolerance i.e. calibration. It is a challenge for end-users to appropriately carry out boresight calibration which is to calibrate the most critical errors – boresight errors.