  We present here a real time mobile mapping system mounted on a vehicle. The
terrestrial acquisition system is based on a geolocation system and two
sensors, namely, a laser scanner and a camera with a fish-eye lens. We produce
3D colored points cloud and textured models of the environment. Once the system
has been calibrated, the data acquisition and processing are done "on the way".
This article mainly presents our methods of colorization of point cloud,
triangulation and texture mapping.
