This article describes an original method to reconstruct a 3D scene from a sequence of images. Our approach uses both the dense 3D point cloud extracted by multi-view stereovision and the calibrated images. It combines depth-maps construction in the image planes with surface reconstruction through restricted Delaunay triangulation. The method may handle very large scale outdoor scenes. Its accuracy has been tested on numerous outdoor scenes including the dense multi-view benchmark proposed by Strecha et al. Our results show that the proposed method compares favorably with the current state of the art.