In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely. However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of 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 range finder. The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method.