We propose an engineering approach to creating 3D models of outdoor scenes from laser range data and visual image data.According to the features of TH-3DLCS-2001 Scanner which can capture the 3D geometry and texture data synchronously

we deduce the formulas of registration between laser points and visual points

and give the RGB values of each laser points.We propose a fast registration algorithm of multiple range images based on the reverse projections

and all range images are aligned into a common coordinate system.Using the Hough Transform and Fuzzy theory

we classify the outdoor scene into six major groups including roof

wall

window

ground

tree

and others

and give a triangulation algorithm.This proposed method has been applied to the 3D reconstruction of some outdoor scenes;the results show that this method can be able to solve the basic problems of 3D reconstruction of outdoor scenes from laser range data and visual image data.