A method of multi-beam Lidar intensity measurement calibration including determining, by a positioning device, position information of a moving platform within a global reference frame, collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams, segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point, finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value, estimating a probability density based on the subset of voxels, and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density.