In modern computer graphics, 3D scanning is common practise for the acquisition of the geometry of objects. How- ever, in addition to geometric models, physical models of interaction behaviour are required for the realistic repre- sentation of objects in arbitrary environments. In this pa- per, we introduce a hand-held scanning approach for the acquisition of physical surface texture (roughness) of real- world 3D objects. Our system utilizes a low-cost mobile touch probe and image-based tracking to allow an operator to interactively scan a real-world object and generate esti- mates of surface texture and compliance. These scans can be integrated into the 3D scanning pipeline, just as colour imagery can be included into the pipeline for the acquisition of visual texture. We demonstrate that the acquired surface properties are of sufficient quality to allow for haptic dis- play of the scanned object.
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