Aspects of the present disclosure involve a vehicle computer system comprising a computer-readable storage medium storing a set of instructions, and a method for online light detection and ranging (Lidar) intensity normalization. Consistent with some embodiments, the method may include accumulating point data output by a channel of a Lidar unit during operation of an autonomous or semi-autonomous vehicle. The accumulated point data includes raw intensity values that correspond to a particular surface type. The method further includes calculating a median intensity value based on the raw intensity values and generating an intensity normalization multiplier for the channel based on the median intensity value. The intensity normalization multiplier, when applied to the median intensity value, results in a reflectivity value that corresponds to the particular surface type. The method further includes applying the intensity normalization multiplier to the point data output by the channel to produce normalized intensity values.