A method of calibrating a Light Detection and Ranging (LIDAR) system, the LIDAR system having a system of coordinates, the system of coordinates having axes, one of the axes extending along a normal direction of a ground surface, the LIDAR system mountable on a self-driving vehicle, the SDV located on the ground surface, the method executable by an electronic device associated with the SDV, the method comprising: acquiring, by the electronic device, from the LIDAR system a subset of detected data points in the system of coordinates of the LIDAR system and representing an outer surface of the SDV, the subset of detected data points being a subset of a plurality of detected data points of the LIDAR system; generating, by the electronic device, a subset of mirror-image data points based on the subset of detected data points, the subset of mirror-image data points representing a mirror-image of the outer surface of the SDV; projecting, by the electronic device, the subset of mirror-image data points onto the subset of detected data points so as to define pairs of overlapping data points (701, 702, 703, 704, 705, 706), each given pair of overlapping data points (701, 702, 703, 704, 705, 706) including: (i) a first data point from the subset of detected data points (601, 603, 604, 605, 606, 607), and (ii) a second data point from the subset of mirror-image data points (657, 656, 655, 654, 653, 651), such that the second data point is a mirror-image of a third data point in the subset of detected data points that is symmetrically opposite to the first data point; using, by the electronic device, (i) at least two first data points (601, 603) and (ii) at least two respective third data points (607, 606) that are symmetrically opposite to the at least two first data points (601, 603) for determining an axis of symmetry of the SDV in the system of coordinates of the LIDAR system; and calibrating, by the electronic device, the LIDAR system using an angular offset between the axis of symmetry of the SDV and an other one of the axes of the system of coordinates of the LIDAR system. acquiring, by the electronic device, from the LIDAR system a subset of detected data points in the system of coordinates of the LIDAR system and representing an outer surface of the SDV, the subset of detected data points being a subset of a plurality of detected data points of the LIDAR system; generating, by the electronic device, a subset of mirror-image data points based on the subset of detected data points, the subset of mirror-image data points representing a mirror-image of the outer surface of the SDV; projecting, by the electronic device, the subset of mirror-image data points onto the subset of detected data points so as to define pairs of overlapping data points (701, 702, 703, 704, 705, 706), each given pair of overlapping data points (701, 702, 703, 704, 705, 706) including: (i) a first data point from the subset of detected data points (601, 603, 604, 605, 606, 607), and (ii) a second data point from the subset of mirror-image data points (657, 656, 655, 654, 653, 651), such that the second data point is a mirror-image of a third data point in the subset of detected data points that is symmetrically opposite to the first data point; using, by the electronic device, (i) at least two first data points (601, 603) and (ii) at least two respective third data points (607, 606) that are symmetrically opposite to the at least two first data points (601, 603) for determining an axis of symmetry of the SDV in the system of coordinates of the LIDAR system; and calibrating, by the electronic device, the LIDAR system using an angular offset between the axis of symmetry of the SDV and an other one of the axes of the system of coordinates of the LIDAR system.