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In this paper, a novel method is presented to generate textured CAD model of out-door urban environment using a vehicle-borne sensor system. In data measurement, three single-row laser range scanners and six line cameras are mounted on a measurement vehicle, which has been equipped with a GPS/INS/Odometer based navigation system. Laser range and line images are measured as the vehicle moves ahead. They are synchronized with the navigation system, so that can be geo-referenced to a world coordinate system. Generation of CAD model is conducted in two steps. A geometric model is first generated using the geo-referenced laser range data, where urban features like buildings, ground surface and trees are extracted in a hierarchical way. Different urban features are represented using different geometric primitives like planar face, TIN and triangle. Texture of the urban features is …