A method and apparatus for the automatic calibration method described in this application provides an integrated framework for performing a reliable and objective estimation of IMU-LiDAR latency and boresight angles. This method, based on the estimation of calibration parameters through the resolution of observation equations is able to deliver boresight and latency estimates as well as their precision. A new calibration method for the boresight method angles between a LiDAR and an IMU, based on an automatic data selection algorithm, followed by the adjustment of bore sight angles. This method, called LIBAC (LiDAR-IMU Boresight Automatic Calibration), takes in input overlapping survey strips following a sample line pattern over a regular slope. First, construct a boresight error observability criterion, used to select automatically the most sensitive soundings to boresight errors. From these soundings, adjust the boresight angle 3D, thus taking into account the coupling between angles. From a statistical analysis of the adjustment results, we derive the boresight precision.