Abstract: A method of producing a multi-viewpoint panorama of a roadside is disclosed. In at least one embodiment, the method includes acquiring a set of laser scan samples obtained by at least one terrestrial based laser scanner mounted on a moving vehicle, wherein each sample is associated with location data and orientation data; acquiring at least one image sequence, wherein each image sequence is obtained by use of a terrestrial based camera mounted on the moving vehicle, wherein each image of the at least one image sequences is associated with location and orientation data; extracting a surface from the set of laser scan samples and determining the location of the surface in dependence of the location data associated with the laser scan samples; and producing a multi-viewpoint panorama for the surface from the at least one image sequence in dependence of the location of the surface and the location and orientation data associated with each of the images.