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Most recent mobile mapping systems (MMS) capture 3D lidar point cloud together with HD optical images. In this talk, we will present a method to add color information to each lidar point. First, each lidar point is projected onto each color image. By comparing the depth of a point in one image with the ones of its neighbors in the same image, a visibility coefficient is automatically estimated for each point in each point of view/image. It provides a confidence index to the color of the corresponding pixel. Each point is thus associated to a list of color candidates and their index of confidence. The final color for each point is computed from spatial regularization on the point cloud domain.