A mobile laser scanning (MLS) system consists of a moving vehicle equipped with one or more usually side-looking laser scanners to capture information about the local 3D geometry. Mobile laser scanning systems are applied for capturing dense and accurate 3D information representing local object surfaces, but the density of the measured 3D points depends on their distance to the scanning unit, which is usually mounted on a vehicle. As a consequence, an appropriate interpretation of the captured data has to face certain challenges arising from either low or varying point density.