In the context of the PhD of Arnaud Bletterer (2014-2018), and in collaboration with Cintoo3D, We work on the reconstruction of complex scenes captured by terrestrial LiDARs. Nowadays, LiDARs are able to generate tens of millions of points from a single acquisition. The main benefit of this considerable change lies in their capacity to capture extremely detailed surfaces. But this comes with a severe complexity in time and in memory, making the reconstruction very challenging, even sometimes impossible, with usual surface reconstruction approaches. The goal of our current work is to develop an algorithm that generates mesh surfaces from terrestrial LiDAR acquisitions, while preserving the topology of the captured reality. We already showed nice results from a single 360° terrestrial LiDAR acquisition of more than tens of millions of points.