A method for colorizing a set of point cloud data points associated with an object using a plurality of candidate images (200, 400) comprising images that are candidates for colorizing the set of point cloud data points, the method comprising: for each respective data point in the set of point cloud data points: (i) for each candidate image in a set of candidate images initially comprising the plurality of candidate images (200, 400), determining a particular point in that candidate image corresponding to the respective data point by mapping the coordinates of the respective data point in the coordinate system of the point cloud to the coordinates in the coordinate system of that candidate image, (ii) for each candidate image in the set of candidate images, determining the distance from an image acquisition device that acquired that candidate image to the location (502, 504) corresponding to the particular point (130, 132) in that candidate image at the time that the image acquisition device acquired that candidate image, (iii) identifying the candidate image (200, 400), from the set of candidate images, having the shortest distance from the image acquisition device that acquired the candidate image to the location (502, 504) corresponding to the particular point (130, 132) in the candidate image at the time that the image acquisition device acquired the candidate image by comparing the determined distances with each other, (iv) determining whether the particular point in the identified candidate image is an un-occluded point of the object by comparing the distance (136, 140) from the image acquisition device that acquired the identified candidate image (200, 400) to the location on the object corresponding to the respective data point at the time that the image acquisition device acquired the identified candidate image (200, 400) and the distance (134, 138) from the image acquisition device that acquired the identified candidate image to the location (502, 504) corresponding to the particular point (130,132) in the identified candidate image (200, 400) at the time that the image acquisition device acquired the identified candidate image (200, 400), (v) in response to determining that the particular point in the identified candidate image is an un-occluded point of the object, selecting the identified candidate image, and (vi) colorizing the respective data point based on the color in the selected image of the un-occluded point of the object corresponding to the respective data point. (i) for each candidate image in a set of candidate images initially comprising the plurality of candidate images (200, 400), determining a particular point in that candidate image corresponding to the respective data point by mapping the coordinates of the respective data point in the coordinate system of the point cloud to the coordinates in the coordinate system of that candidate image, (ii) for each candidate image in the set of candidate images, determining the distance from an image acquisition device that acquired that candidate image to the location (502, 504) corresponding to the particular point (130, 132) in that candidate image at the time that the image acquisition device acquired that candidate image, (iii) identifying the candidate image (200, 400), from the set of candidate images, having the shortest distance from the image acquisition device that acquired the candidate image to the location (502, 504) corresponding to the particular point (130, 132) in the candidate image at the time that the image acquisition device acquired the candidate image by comparing the determined distances with each other, (iv) determining whether the particular point in the identified candidate image is an un-occluded point of the object by comparing the distance (136, 140) from the image acquisition device that acquired the identified candidate image (200, 400) to the location on the object corresponding to the respective data point at the time that the image acquisition device acquired the identified candidate image (200, 400) and the distance (134, 138) from the image acquisition device that acquired the identified candidate image to the location (502, 504) corresponding to the particular point (130,132) in the identified candidate image (200, 400) at the time that the image acquisition device acquired the identified candidate image (200, 400), (v) in response to determining that the particular point in the identified candidate image is an un-occluded point of the object, selecting the identified candidate image, and (vi) colorizing the respective data point based on the color in the selected image of the un-occluded point of the object corresponding to the respective data point.