Terrestrial laser scanning is a standard tool for 3D surface modeling. In order to exploit such fully 3D data in texture-mapping or for the creation of large-scale ‘true orthos’ a fully auto­matic algorithm was developed that handles surface self-occlusions and image occlusions, as well as multi-image texture interpolation. All surface points visible in the direction of projection are first identified, and then texture from all images which view each particular surface point is blended. Means for automatically eliminating colour outliers from individual images, especially near image occlusion borders, are also provided.