.. Main, 132 8.3.1 Computing the deformable grid 132 8.3.2 Extracting discontinuities in the grid 132 8.3.3 Extracting 2D segments in the optical image grid segments with image segments, p.134

2. Extracting and .. In-the-optical-image, 132 8.3.4 Estimating the third coordinate of the image segments thanks to the grid . . . . . 132 8.3.5 Matching grid segments with image segments, p.134

H. Thomas, G. Kolbe, L. Gröger, and . Plümer, Citygml: Interoperable access to 3d city models, Geo-information for disaster management, pp.883-899, 2005.

S. Pu, Knowledge based building facade reconstruction from laser point clouds and images, 2010.

H. Boulaassal, Segmentation et Modélisation Géométriques de Façades de BâtimentsBâtimentsà Partir de Relevés Laser Terrestres, 2010.

J. Deschaud, Dense point cloud processing and 3D environment modeling from LiDAR/Camera mobile system, 2010.
URL : https://hal.archives-ouvertes.fr/pastel-00580384

C. Mallet, Analysis of Full-Waveform lidar data for urban area mapping, 2010.
URL : https://hal.archives-ouvertes.fr/pastel-00566992

N. Paparoditis, J. Papelard, B. Cannelle, A. Devaux, B. Soheilian et al., Stereopolis II: A multi-purpose and multi-sensor 3d mobile mapping system for street visualisation and 3d metrology, pp.69-79, 2012.

F. Rottensteiner, G. Sohn, J. Jung, C. Gerke, S. Baillard et al., The isprs benchmark on urban object classification and 3d building reconstruction. ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences I-3, pp.293-298, 2012.

F. Rottensteiner, G. Sohn, M. Gerke, and J. D. Wegner, Isprs test project on urban classification and 3d building reconstruction, ISPRS-Commission III-Photogrammetric Computer Vision and Image Analysis, 2013.

J. Demantké, C. Mallet, B. David, and . Vallet, Dimensionality based scale selection in 3d lidar point clouds. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Laser Scanning, 2011.

S. Filin and N. Pfeifer, Neighborhood Systems for Airborne Laser Data, Photogrammetric Engineering & Remote Sensing, vol.71, issue.6, pp.743-755, 2005.
DOI : 10.14358/PERS.71.6.743

S. Soudarissanane, R. Lindenbergh, M. Menenti, and P. Teunissen, Incidence angle influence on the quality of terrestrial laser scanning points. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, pp.183-188, 2009.

O. Hadjiliadis and I. Stamos, Sequential classification in point clouds of urban scenes, International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT), 2010.

M. Pauly, L. Kobbelt, and M. Gross, Point-based multiscale surface representation, ACM Transactions on Graphics, vol.25, issue.2, pp.177-193, 2006.
DOI : 10.1145/1138450.1138451

H. Hoppe, T. Derose, T. Duchamp, J. Mcdonald, and W. Stuetzle, Surface reconstruction from unorganized points, ACM SIGGRAPH Computer Graphics, vol.26, issue.2, pp.71-78, 1992.
DOI : 10.1145/142920.134011

M. Zwickler, M. Pauly, O. Knoll, and M. Gross, Pointshop 3d: An interactive system for point-based surface editing, ACM SIGGRAPH, pp.322-329, 2002.

T. Dey and J. Sun, An adaptive MLS surface for reconstruction with guarantees, Symposium on Geometry Processing, pp.43-52, 2005.

D. Belton and D. Lichti, Classification and segmentation of terrestrial laser scanner point clouds using local variance information. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, pp.44-49, 2006.

N. J. Mitra, A. Nguyen, and L. Guibas, Estimating surface normals in noisy point cloud data, International Journal of Computational Geometry and Applications, vol.14, pp.4-5261, 2004.

J. F. Lalonde, R. Unnikrishnan, N. Vandapel, and M. Herbert, Scale Selection for Classification of Point-Sampled 3-D Surfaces, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM'05), 2005.
DOI : 10.1109/3DIM.2005.71

K. Bae, D. Belton, and D. Lichti, A closed-form expression of the positional uncertainty for 3D point clouds, IEEE TPAMI, vol.31, issue.4, pp.577-590, 2009.

S. Gumhold, X. Wang, and R. Macleod, Feature extraction from point clouds, International Meshing Roundtable, pp.293-305, 2001.

R. Shapovalov, A. Velizhev, and O. Barinova, Non-associative markov networks for 3D point cloud classification. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, pp.38103-108, 2010.

D. Munoz, D. Bagnell, N. Vandapel, and M. Hebert, Contextual classification with functional Max-Margin Markov Networks, 2009 IEEE Conference on Computer Vision and Pattern Recognition, 2009.
DOI : 10.1109/CVPR.2009.5206590
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.150.2157

J. Digne, Inverse Geometry: From the raw point cloud to the 3D surface -Theory and Algorithms, 2010.
URL : https://hal.archives-ouvertes.fr/tel-00610432

H. Gross, B. Jutzi, and U. Thoennessen, Segmentation of tree regions using data of a full-waveform laser. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, pp.57-62, 2007.

C. K. Tang, G. Medioni, P. Mordohai, and W. S. Tong, First order augmentations to tensor voting for boundary inference and multiscale analysis in 3-D, IEEE TPAMI, vol.26, issue.5, pp.594-611, 2004.

A. Frome, D. Huber, R. Kolluri, T. Bülow, and J. Malik, Recognizing Objects in Range Data Using Regional Point Descriptors, IEEE ECCV, 2004.
DOI : 10.1007/978-3-540-24672-5_18

A. Golovinskiy, V. Kim, and T. Funkhouser, Shape-based recognition of 3D point clouds in urban environments, 2009 IEEE 12th International Conference on Computer Vision, 2009.
DOI : 10.1109/ICCV.2009.5459471

K. West, B. Webb, J. Lersch, S. Pothier, J. Triscari et al., Context-driven automated target detection in 3D data, SPIE 5426, pp.133-143, 2004.

A. Toshev, P. Mordohai, and B. Taskar, Detecting and parsing architecture at city scale, IEEE CVPR, 2010.

M. Bosse and R. Zlot, Continuous 3D scan-matching with a spinning 2D laser, 2009 IEEE International Conference on Robotics and Automation, pp.4312-4319, 2009.
DOI : 10.1109/ROBOT.2009.5152851

N. Brodu and D. Lague, 3D terrestrial lidar data classification of complex natural scenes using a multi-scale dimensionality criterion: Applications in geomorphology, ISPRS Journal of Photogrammetry and Remote Sensing, vol.68, pp.121-134, 2012.
DOI : 10.1016/j.isprsjprs.2012.01.006
URL : https://hal.archives-ouvertes.fr/insu-00700970

F. Pauling, M. Bosse, and R. Zlot, Automatic segmentation of 3d laser point clouds by ellipsoidal region growing, Australasian Conference on Robotics and Automation, 2009.

F. Banégas, M. Jaeger, D. Michelucci, and M. Roelens, The ellipsoidal skeleton in medical applications, Proceedings of the sixth ACM symposium on Solid modeling and applications , SMA '01, pp.30-38, 2001.
DOI : 10.1145/376957.376961

M. Weinmann, J. Boris, and C. Mallet, Feature relevance assessment for the semantic interpretation of 3d point cloud data. International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Laser Scanning, 2013.

F. Monnier, B. Vallet, and B. Soheilian, Trees detection from laser point clouds acquierd in dense urban areas by a mobile mapping system, 2012.

A. Gressin, C. Mallet, J. Demantké, and N. David, Towards 3D lidar point cloud registration improvement using optimal neighborhood knowledge, ISPRS Journal of Photogrammetry and Remote Sensing, vol.79, pp.240-251, 2013.
DOI : 10.1016/j.isprsjprs.2013.02.019
URL : https://hal.archives-ouvertes.fr/hal-00920922

J. Hernandez and B. Marcotegui, Point cloud segmentation towards urban ground modeling, 2009 Joint Urban Remote Sensing Event, pp.1-5, 2009.
DOI : 10.1109/URS.2009.5137562
URL : https://hal.archives-ouvertes.fr/hal-00833599

Y. Qian, U. Zhou, and . Neumann, A streaming framework for seamless building reconstruction from large-scale aerial lidar data, CVPR, pp.2759-2766, 2009.

F. Monnier, B. Vallet, N. Paparoditis, J. Papelard, and N. David, Mise en cohérence de données laser mobile sur un modèle cartographique par recalage non-rigide, pp.27-41, 2013.

J. Demantke, B. Vallet, and N. Paparoditis, Streamed vertical rectangle detection in terrestrial laser scans for facade database production. ISPRS ann, I-3, pp.99-104, 2012.

K. Hammoudi, F. Dornaika, and N. Paparoditis, Extracting building footprints from 3d point clouds using a terrestrial laser scanning at street level, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, pp.65-70, 2009.

S. Benitez, E. Denis, and C. Baillard, Automatic production of occlusion-free rectified facade textures using vehicle-based imagery. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, pp.38275-280, 2010.

C. Poullis and S. You, Automatic reconstruction of cities from remote sensor data, 2009 IEEE Conference on Computer Vision and Pattern Recognition, pp.2775-2782, 2009.
DOI : 10.1109/CVPR.2009.5206562

S. Friedman and I. Stamos, Real Time Detection of Repeated Structures in Point Clouds of Urban Scenes, 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, 2011.
DOI : 10.1109/3DIMPVT.2011.35

Q. Zheng, G. Sharf, Y. Wan, N. Li, D. Mitra et al., Non-local scan consolidation for 3d urban scenes, ACM Transactions on Graphics, vol.29, issue.94, 2010.

T. Van-lankveld, M. Van-kreveld, and R. Veltkamp, Identifying rectangles in laser range data for urban scene reconstruction, Computers & Graphics, vol.35, issue.3, pp.719-725, 2011.
DOI : 10.1016/j.cag.2011.03.004

M. Rutzinger, . Elberink, G. Pu, and . Vosselman, Automatic extraction of vertical walls from mobile and airborne laser scanning data, GeoInformation Science, vol.38, 2009.

C. Frueh, J. Siddharth, and A. Zakhor, Data Processing Algorithms for Generating Textured 3D Building Facade Meshes from Laser Scans and Camera Images, International Journal of Computer Vision, vol.61, issue.2, pp.159-184, 2005.
DOI : 10.1023/B:VISI.0000043756.03810.dd

Y. Yang, M. , and W. Forstner, Plane detection in point cloud data, 2010.

K. Hammoudi, F. Dornaika, and N. Paparoditis, Generating Virtual 3D Model of Urban Street Facades by Fusing Terrestrial Multi-source Data, 2011 Seventh International Conference on Intelligent Environments, pp.330-333, 2011.
DOI : 10.1109/IE.2011.50

J. Burochin, B. Vallet, O. Tournaire, and N. Paparoditis, A formulation for unsupervised hierarchical segmentation of facade images with periodic models, pp.227-232, 2010.

J. Hernández and B. Marcotegui, Morphological segmentation of building fa??ade images, 2009 16th IEEE International Conference on Image Processing (ICIP), pp.4029-4032, 2009.
DOI : 10.1109/ICIP.2009.5413756

A. Howard, D. F. Wolf, and G. S. Sukhatme, Towards 3D mapping in large urban environments, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.419-424, 2004.
DOI : 10.1109/IROS.2004.1389388

P. Musialski, P. Wonka, G. Daniel, M. Aliaga, L. Wimmer et al., A Survey of Urban Reconstruction, Eurographics State of the art reports, 2012.
DOI : 10.1111/cgf.12077

S. Becker and N. Haala, Grammar supported facade reconstruction from mobile lidar mapping. ISPRS, Commission XXXVII, 2009.

P. Musialski, M. Wimmer, and P. Wonka, Interactive Coherence-Based Fa??ade Modeling, Computer Graphics Forum, pp.661-670, 2012.
DOI : 10.1111/j.1467-8659.2012.03045.x
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.250.4784

P. Müller, G. Zeng, P. Wonka, and L. Van-gool, Image-based procedural modeling of facades, ACM Transactions on Graphics, vol.26, issue.3, p.85, 2007.
DOI : 10.1145/1276377.1276484

N. Ripperda and C. Brenner, Data driven rule proposal for grammar based facade reconstruction Photogrammetric Image Analysis, pp.1-6, 2007.

B. Sirmacek, Graph theory and mean shift segmentation based classification of building facades, 2011 Joint Urban Remote Sensing Event, pp.409-412, 2011.
DOI : 10.1109/JURSE.2011.5764806

S. Reznik and H. Mayer, Implicit shape models, model selection, and plane sweeping for 3d facade interpretation, p.173, 2007.

N. Haala, S. Becker, and M. Kada, Cell decomposition for the generation of building models at multiple scales Photogrammetric Computer Vision, 2006.

S. Pu and G. Vosselman, Extracting windows from terrestrial laser scanning, IAPRS, XXXVI, p.320, 2007.

C. Luo and G. Sohn, A knowledge based hierarchical classification tree for 3d facade modeling using terrestrial laser scanning data, Proceedings of the 2010 Canadian Geomatics Conference and Symposium of Commission I, ISPRS, pp.195-200, 2010.

N. Ripperda and C. Brenner, Application of a formal grammar to facade reconstruction in semiautomatic and automatic environments, Proc. of the 12th AGILE Conference on GIScience, pp.1-12, 2009.

R. Wang, J. Bach, P. Frank, and . Ferrie, Window detection from mobile LiDAR data, 2011 IEEE Workshop on Applications of Computer Vision (WACV), pp.58-65, 2011.
DOI : 10.1109/WACV.2011.5711484

M. Alshawa, . Boulaassal, P. Landes, and . Grussenmeyer, Acquisition and automatic extraction of facade elements on large sites from a low cost laser mobile mapping system, ISPRS, p.3, 2009.

X. Wang, S. Totaro, F. Taillandier, R. Allen, S. Hanson et al., Recovering facade texture and microstructure from real-world images, IAPRS, vol.34, issue.3, pp.381-386, 2002.

S. Becker, N. Haala, and D. Fritsch, Combined knowledge propagation for facade reconstruction, IAPRS & SIS, vol.37, p.5, 2008.

A. Chauve, P. Labatut, and J. Pons, Robust piecewise-planar 3D reconstruction and completion from large-scale unstructured point data, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.1261-1268, 2010.
DOI : 10.1109/CVPR.2010.5539824
URL : https://hal.archives-ouvertes.fr/hal-00654408

Y. Furukawa, B. Curless, M. Steven, R. Seitz, and . Szeliski, Reconstructing building interiors from images, 2009 IEEE 12th International Conference on Computer Vision, pp.80-87, 2009.
DOI : 10.1109/ICCV.2009.5459145

M. Pauly, J. Niloy, J. Mitra, H. Wallner, L. J. Pottmann et al., Discovering structural regularity in 3d geometry, TOG, p.43, 2008.

J. Niloy, L. J. Mitra, M. Guibas, and . Pauly, Partial and approximate symmetry detection for 3d geometry, ACM Transactions on Graphics (TOG), vol.25, issue.3, pp.560-568, 2006.

J. Niloy, M. Mitra, and . Pauly, Symmetry for architectural design Advances in Architectural Geometry, pp.13-16, 2008.

A. Berner, M. Wand, J. Niloy, D. Mitra, H. Mewes et al., Shape Analysis with Subspace Symmetries, Computer Graphics Forum, vol.29, issue.2, pp.277-286, 2011.
DOI : 10.1111/j.1467-8659.2011.01859.x

J. Niloy, M. Mitra, M. Pauly, D. Wand, and . Ceylan, Symmetry in 3d geometry: Extraction and applications, Computer Graphics Forum, 2013.

C. Shen, S. Huang, H. Fu, and S. Hu, Adaptive partitioning of urban facades, TOG, p.184, 2011.

S. Friedman and I. Stamos, Real Time Detection of Repeated Structures in Point Clouds of Urban Scenes, 2011 International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, pp.220-227, 2011.
DOI : 10.1109/3DIMPVT.2011.35

Q. Zheng, A. Sharf, G. Wan, Y. Li, J. Niloy et al., Non-local scan consolidation for 3d urban scenes, TOG, vol.29, issue.4, p.94, 2010.

L. Nan, A. Sharf, H. Zhang, D. Cohen-or, and B. Chen, Smartboxes for interactive urban reconstruction, TOG, vol.29, issue.4, p.93, 2010.
DOI : 10.1145/1778765.1778830
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.182.1857

T. Guillemot, A. Almansa, and T. Boubekeur, Non Local Point Set Surfaces, 2012 Second International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission, pp.324-331, 2012.
DOI : 10.1109/3DIMPVT.2012.71
URL : https://hal.archives-ouvertes.fr/hal-01117141

Y. Li, Q. Zheng, A. Sharf, D. Cohen-or, B. Chen et al., 2D-3D fusion for layer decomposition of urban facades, 2011 International Conference on Computer Vision, pp.882-889, 2011.
DOI : 10.1109/ICCV.2011.6126329

F. Lafarge, R. Keriven, M. Brédif, and H. Vu, A hybrid multi-view stereo algorithm for modeling urban scenes. TPAMI, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00759261

R. Deriche, Using Canny's criteria to derive a recursively implemented optimal edge detector, International Journal of Computer Vision, vol.1, issue.2, pp.167-187, 1987.
DOI : 10.1007/BF00123164

H. Badino, D. Huber, Y. Park, and T. Kanade, Fast and accurate computation of surface normals from range images, 2011 IEEE International Conference on Robotics and Automation, pp.3084-3091, 2011.
DOI : 10.1109/ICRA.2011.5980275

C. Frueh, S. Jain, and A. Zakhor, Data Processing Algorithms for Generating Textured 3D Building Facade Meshes from Laser Scans and Camera Images, International Journal of Computer Vision, vol.61, issue.2, pp.61159-184, 2005.
DOI : 10.1023/B:VISI.0000043756.03810.dd

J. Demantke, B. Vallet, and N. Paparoditis, Facade Reconstruction with Generalized 2.5d Grids, ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences, vol.5, issue.2, pp.99-104, 2013.
DOI : 10.5194/isprsannals-II-5-W2-67-2013

C. Couprie, X. Bresson, L. Najman, H. Talbot, and L. Grady, Surface Reconstruction Using Power Watershed, Mathematical Morphology and Its Applications to Image and Signal Processing, pp.381-392, 2011.
DOI : 10.1007/978-3-642-21569-8_33
URL : https://hal.archives-ouvertes.fr/hal-00622504

T. Boubekeur, P. Reuter, and C. Schlick, Visualization of point-based surfaces with locally reconstructed subdivision surfaces, International Conference on Shape Modeling and Applications 2005 (SMI' 05), pp.23-32, 2005.
DOI : 10.1109/SMI.2005.49
URL : https://hal.archives-ouvertes.fr/inria-00260839

J. Digne, D. Cohen-steiner, P. Alliez, M. Fernando-de-goes, and . Desbrun, Feature-Preserving Surface Reconstruction and Simplification from Defect-Laden Point Sets, Journal of Mathematical Imaging and Vision, vol.40, issue.2, pp.1-14, 2013.
DOI : 10.1007/s10851-013-0414-y
URL : https://hal.archives-ouvertes.fr/hal-00827623

C. Wu, S. Agarwal, B. Curless, M. Steven, and . Seitz, Schematic surface reconstruction, Computer Vision and Pattern Recognition (CVPR), 2012 IEEE Conference on, pp.1498-1505, 2012.

R. Hadsell, A. Bagnell, and M. Hebert, Accurate rough terrain estimation with space-carving kernels, RSS, 2009.
DOI : 10.15607/rss.2009.v.019
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.1395

A. Broadhurst, W. Tom, R. Drummond, and . Cipolla, A probabilistic framework for space carving, Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001, pp.388-393, 2001.
DOI : 10.1109/ICCV.2001.937544

S. Shalom, A. Shamir, H. Zhang, and D. Cohen-or, Cone carving for surface reconstruction, TOG, vol.29, issue.6, p.150, 2010.
DOI : 10.1145/1882261.1866176
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.221.3582

F. Leberl, A. Irschara, T. Pock, P. Meixner, M. Gruber et al., Point Clouds, Photogrammetric Engineering & Remote Sensing, vol.76, issue.10, pp.1123-1134, 2010.
DOI : 10.14358/PERS.76.10.1123

N. Haala, Comeback of digital image matching, Photogrammetric Week, pp.289-301, 2009.

M. Pierrot-deseilligny and I. Clery, ´ Evolution récentes en photogrammétrie et modélisation 3d par photo des milieux naturels, Collection EDYTEM, vol.12, pp.51-64, 2011.

O. Hadjiliadis and I. Stamos, Sequential classification in point clouds of urban scenes, 3DPVT, 2010.

S. Becker and N. Haala, Refinement of building fassades by integrated processing of lidar and image data. International Archives of Photogrammetry, Remote Sensing and Spatial Information Science, pp.7-12, 2007.

F. Taillandier and R. Deriche, Reconstruction of 3d linear primitives from multiple views for urban areas modelisation. International Archives of Photogrammetry, Remote Sensing and Spatial Information Science, pp.267-272, 2002.

D. Comaniciu and P. Meer, Mean shift: A robust approach toward feature space analysis. Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.24, issue.5, pp.603-619, 2002.