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Scene analysis, in urban environments, deals with street modeling and understanding. A street mainly consists of roadways, pavements (i.e., walking areas), facades, still and moving obstacles. In this paper, we investigate the surface modeling of roadways and pavements using LIDAR data acquired by a mobile laser scanning (MLS) system. First, road border detection is considered. A system recognizing curbs and curb ramps while reconstructing the missing information in case of occlusion isdoi:10.5194/isprsannals-ii-3-w3-31-2013 fatcat:z3pkospx2jbpbgmqaglb4it5za