A method performed by a computing system, the method comprising: obtaining an indication of physical contact of an interface of a hand-mounted mobile device with a physical object in a physical environment, the interface having one or more associated touch sensors; identifying a location of the interface of the hand-mounted mobile device within the physical environment during the physical contact with the physical object based on sensor data obtained from one or more positioning sensors (238, 254); storing location data indicating the location in a data storage device; and prioritizing refinement of a virtual mesh model of the physical environment containing the physical object based on the location indicated by the location data; charaterized in that prioritizing refinement of the virtual mesh model based on the location includes: processing image data obtained by optical imaging of the physical environment to extract a higher resolution of mesh nodes in a vicinity of the location indicated by the location data as compared to other regions of the physical environment located outside of the vicinity of the location; or processing image data obtained by optical imaging of the physical environment to extract mesh nodes in a vicinity of the location indicated by the location data prior to processing other image data obtained by the optical imaging of the physical environment to extract mesh nodes located outside of the vicinity of the location; or capturing image data in a vicinity of the location indicated by the location data prior to capturing other image data of other regions of the physical environment located outside of the vicinity of the location. obtaining an indication of physical contact of an interface of a hand-mounted mobile device with a physical object in a physical environment, the interface having one or more associated touch sensors; identifying a location of the interface of the hand-mounted mobile device within the physical environment during the physical contact with the physical object based on sensor data obtained from one or more positioning sensors (238, 254); storing location data indicating the location in a data storage device; and prioritizing refinement of a virtual mesh model of the physical environment containing the physical object based on the location indicated by the location data; charaterized in that prioritizing refinement of the virtual mesh model based on the location includes: processing image data obtained by optical imaging of the physical environment to extract a higher resolution of mesh nodes in a vicinity of the location indicated by the location data as compared to other regions of the physical environment located outside of the vicinity of the location; or processing image data obtained by optical imaging of the physical environment to extract mesh nodes in a vicinity of the location indicated by the location data prior to processing other image data obtained by the optical imaging of the physical environment to extract mesh nodes located outside of the vicinity of the location; or processing image data obtained by optical imaging of the physical environment to extract a higher resolution of mesh nodes in a vicinity of the location indicated by the location data as compared to other regions of the physical environment located outside of the vicinity of the location; or processing image data obtained by optical imaging of the physical environment to extract mesh nodes in a vicinity of the location indicated by the location data prior to processing other image data obtained by the optical imaging of the physical environment to extract mesh nodes located outside of the vicinity of the location; or capturing image data in a vicinity of the location indicated by the location data prior to capturing other image data of other regions of the physical environment located outside of the vicinity of the location.