diff --git a/docs/images/depth.png b/docs/images/depth.png
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diff --git a/docs/images/point_cloud.png b/docs/images/point_cloud.png
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diff --git a/docs/point_clouds.md b/docs/point_clouds.md
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index 0000000000..eb9e06cc19
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+++ b/docs/point_clouds.md
@@ -0,0 +1,17 @@
+# Point Clouds
+
+Moved here from [https://github.com/microsoft/AirSim/wiki/Point-Clouds](https://github.com/microsoft/AirSim/wiki/Point-Clouds)
+
+A Python script [point_cloud.py](https://github.com/Microsoft/AirSim/blob/master/PythonClient/multirotor/point_cloud.py) shows how to convert the depth image returned from AirSim into a point cloud.
+
+The following depth image was captured using the Modular Neighborhood environment:
+
+![depth](images/depth.png)
+
+And with the appropriate projection matrix, the OpenCV `reprojectImageTo3D` function can turn this into a point cloud.  The following is the result, which is also available here: [https://skfb.ly/68r7y](https://skfb.ly/68r7y).
+
+![depth](images/point_cloud.png)
+
+[SketchFab](https://sketchfab.com) can upload the resulting file `cloud.asc` and render it for you.
+
+PS: you may notice the scene is reflected on the Y axis, so I may have a sign wrong in the projection matrix.  An exercise for the reader :-)
diff --git a/mkdocs.yml b/mkdocs.yml
index ed85c6529d..500f27dd4b 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -92,7 +92,7 @@ nav:
     - "Autonomous Driving on Azure": 'https://aka.ms/AutonomousDrivingCookbook'
     - "Building Hexacopter": 'https://github.com/Microsoft/AirSim/wiki/hexacopter'
     - "Moving on Path Demo": 'https://github.com/Microsoft/AirSim/wiki/moveOnPath-demo'
-    - "Building Point Clouds": 'https://github.com/Microsoft/AirSim/wiki/Point-Clouds'
+    - "Building Point Clouds": 'point_clouds.md'
     - "Surveying Using Drone": 'drone_survey.md'
     - "Orbit Trajectory": "orbit.md"
   - "Misc":