In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have non-uniform surface reflectance properties and exhibit interreflections. This paper describes a new method for densely estimating non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method.