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The objective of this study was to develop a calibration method to get the exact position of the 2-dimensional laser scanner mounted on the front of an automated vehicle from a reference coordinate system before the automatic navigation in an orchard application. The research was limited only in calibrating a 2-dimensional laser scanner that gathers distance and angle data of the objects in front of it. The methods used in this research were Hough transform, Euler rotation theorem and LSM (least squares method). The calibration results identified the exact attachment position of the laser scanner with respect to the vehicle coordinates. Finally, field test runs for autonomous guidance with developed calibration was conducted to confirm the travel accuracy improvement. The accuracy of both lateral and heading error for calibrated sensor was higher than run of subjected calibration.