Recent trends in Autonomous Vehicle (AV) development has leveraged uses of low-cost light detection and ranging (lidar) sensors. While functionalities for enabling AV deployment have been of interest recently, however there are variant of mounting positions of the lidars with respect to the vehicle coordinate system. Furthermore, the number of lidar sensors implemented in an AV is also varying. This paper focus on solving technical issue when dealing with imprecise lidar mounting position by means of automatic-self-calibration. In addition, multi-lidar approaches requires accurate synchronization especially when AV is moving. It is shown that these solutions can correct discrepancies in pose and time errors and is independent of any methods to utilize lidars, e.g. for localization or perception purposes.