In mixed reality, especially in augmented virtuality, in which real objects are virtualized, it is important to estimate object surface reflectance properties in order to render the objects under arbitrary illumination conditions. Although several methods have been explored, faithfully estimating surface reflectance parameters for complex objects having nonuniform surface reflectance properties or interreflections remains difficult. This article describes a new method for densely estimating the nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. Registered range and surface color texture images are obtained using a laser rangefinder. In the proposed method, light source positions are first determined in order to obtain color images for discriminating diffuse and specular reflection components considering the object geometry. Surface reflectance parameters are then estimated based on radiosity and the Torrance-Sparrow model. The usefulness of the proposed method is shown experimentally. (C) 2005 Wiley Periodicals, Inc.