  We propose a new method for the reconstruction of simplicial complexes
(combining points, edges and triangles) from 3D point clouds from Mobile Laser
Scanning (MLS). Our main goal is to produce a reconstruction of a scene that is
adapted to the local geometry of objects. Our method uses the inherent topology
of the MLS sensor to define a spatial adjacency relationship between points. We
then investigate each possible connexion between adjacent points and filter
them by searching collinear structures in the scene, or structures
perpendicular to the laser beams. Next, we create triangles for each triplet of
self-connected edges. Last, we improve this method with a regularization based
on the co-planarity of triangles and collinearity of remaining edges. We
compare our results to a naive simplicial complexes reconstruction based on
edge length.
