Computer-implemented method for texturing a 3D model of at least one scene, the method comprising: a)meshing, with surface elements (50; 55), a points cloud representing the scene, so as to generate the 3D model, each surface element representing an area of the scene, b) unfolding the 3D model so as to obtain a 2D model formed of a plane mesh (60a; 60b) formed of polygons, each surface element corresponding to a single polygon, and vice versa, and c)for at least one, preferably all of the surface elements, i) identifying, from among an image bank (40a; 40b), the images representing the area of the scene and which have been acquired by a camera whose image plane (72a-b) has a normal direction, in the corresponding acquisition position, forming an angle (θ a-b) less than 10°, preferably less than 5°, better still less than 3° with a direction normal to the face of the surface element, i') identifying sharp images from among the images determined in step i), i") identifying, from among the images determined in steps i) and i'), the image taken by the camera whose image plane is closest to the surface element, ii) selecting the image identified in step i"), and iii) associating a texture property with the corresponding polygon, from a piece of information of a pixel (80; 85) of the selected image which is superimposed on the surface element, so as to produce a textured 2D model, and d) producing the textured 3D model by matching the 3D model and the textured 2D model. a)meshing, with surface elements (50; 55), a points cloud representing the scene, so as to generate the 3D model, each surface element representing an area of the scene, b) unfolding the 3D model so as to obtain a 2D model formed of a plane mesh (60a; 60b) formed of polygons, each surface element corresponding to a single polygon, and vice versa, and c)for at least one, preferably all of the surface elements, i) identifying, from among an image bank (40a; 40b), the images representing the area of the scene and which have been acquired by a camera whose image plane (72a-b) has a normal direction, in the corresponding acquisition position, forming an angle (θ a-b) less than 10°, preferably less than 5°, better still less than 3° with a direction normal to the face of the surface element, i') identifying sharp images from among the images determined in step i), i") identifying, from among the images determined in steps i) and i'), the image taken by the camera whose image plane is closest to the surface element, ii) selecting the image identified in step i"), and iii) associating a texture property with the corresponding polygon, from a piece of information of a pixel (80; 85) of the selected image which is superimposed on the surface element, so as to produce a textured 2D model, and i) identifying, from among an image bank (40a; 40b), the images representing the area of the scene and which have been acquired by a camera whose image plane (72a-b) has a normal direction, in the corresponding acquisition position, forming an angle (θ a-b) less than 10°, preferably less than 5°, better still less than 3° with a direction normal to the face of the surface element, i') identifying sharp images from among the images determined in step i), i") identifying, from among the images determined in steps i) and i'), the image taken by the camera whose image plane is closest to the surface element, i') identifying sharp images from among the images determined in step i), i") identifying, from among the images determined in steps i) and i'), the image taken by the camera whose image plane is closest to the surface element, ii) selecting the image identified in step i"), and iii) associating a texture property with the corresponding polygon, from a piece of information of a pixel (80; 85) of the selected image which is superimposed on the surface element, so as to produce a textured 2D model, and d) producing the textured 3D model by matching the 3D model and the textured 2D model.