In this paper, a method of fusing ground-based laser range image and CCD images for the reconstruction of textured 3D urban object is proposed. An acquisition system is developed to capture laser range image and CCD images simultaneously from the same platform. A registration method is developed using both laser range and CCD images in a coarse-to-fine process. Laser range images are registered with an assumption on sensor's setup, which aims at robustly detecting an initial configuration between the sensor's coordinate system of two views. CCD images are matched to refine the accuracy of the initial transformation, which might be degraded by improper sensor setup, unreliable feature extraction, or limited by low spatial resolution of laser range image. Textured 3D model is generated using planar faces for vertical walls and triangular cells for ground surface, trees and bushes. Through an outdoor experiment of reconstructing a building using six views of laser range and CCD images, it is demonstrated that textured 3D model of urban objects can be generated in an automated manner.