Math fonts in beamer are set in serif by default. To change this, see How to get beamer math to look like article math (use the mathserif class option). On a case-by-case basis, you could use $...\mathrm{I}...$ to obtain a serif-style I:

\documentclass{beamer}% http://ctan.org/pkg/beamer
\begin{document}
\begin{frame}
I \quad $I$ \quad $\mathrm{I}$ \quad $\textrm{I}$
\end{frame}
\end{document}
Of course, if you're using this "I" on a more frequent and contextual-specific basis, consider using a macro like
\newcommand{\upshapeI}[1]{\textrm{\upshape I}}
The above suggestions follows the principles in Consistent typography.