Intrinsic calibration of rotating multi-beam lidars (RMBL) enables more precise measurements. We calibrated our sensor to improve its geometric and radiometric accuracy using a rotating tilted platform. The rotating mechanism widens the field of view of each lidar channel and allows all lasers of the sensor to measure the same areas in a room containing planar wall and floor sections. Therefore, we can collect measurements for geometric and radiometric calibration with minimal amount of calibration targets. Furthermore, we used data based numerical minimization to estimate the calibration parameters for all 128 lidar channels in our RMBL sensor. For the intrinsic geometric calibration of the sensor, we estimated the elevation and azimuth angles of each laser. For the radiometry, we estimated a linear model for each laser to correct the intensity measurement. For a linear model, two different known diffuse reflectance targets are sufficient for the radiometric calibration. We tested our methods in two different environments, in an office room and a longer corridor. We showed that the methods can improve the precision of the RMBL sensor significantly. Regarding geometry, we were able to reduce the error on average from 16.1 mm to 15.1 mm (6.2% improvement). For radiometry, we were able to improve the reflectance measuring accuracy on average from 5.8% errors down to -0.9% errors (84% improvement).