A computer-implemented method for generating one or more two-dimensional texture maps of an object, the method comprising: receiving an image frame including at least a portion of the object from an image capture device; for a plurality of particular portions of the object included in the at least a portion of the object in the image frame: determining , at a processor, a color of a particular portion of the object using the image frame; determining a material of the particular portion of the object using the image frame, wherein determining the material of the particular portion of the object comprises: performing identification of the object; accessing a database of materials associated with different objects to identify the material based on the object identification; determining from the database at least one other property of the particular portion of the object based on the material; generating a pixel value representative of the color of the particular portion of the object and representative of the at least one other property of the particular portion of the object; and generating at least one two-dimensional texture map for the at least a portion of the object based on the plurality of pixel values. receiving an image frame including at least a portion of the object from an image capture device; for a plurality of particular portions of the object included in the at least a portion of the object in the image frame: determining , at a processor, a color of a particular portion of the object using the image frame; determining a material of the particular portion of the object using the image frame, wherein determining the material of the particular portion of the object comprises: performing identification of the object; accessing a database of materials associated with different objects to identify the material based on the object identification; determining from the database at least one other property of the particular portion of the object based on the material; generating a pixel value representative of the color of the particular portion of the object and representative of the at least one other property of the particular portion of the object; and generating at least one two-dimensional texture map for the at least a portion of the object based on the plurality of pixel values. determining , at a processor, a color of a particular portion of the object using the image frame; determining a material of the particular portion of the object using the image frame, wherein determining the material of the particular portion of the object comprises: performing identification of the object; accessing a database of materials associated with different objects to identify the material based on the object identification; determining from the database at least one other property of the particular portion of the object based on the material; generating a pixel value representative of the color of the particular portion of the object and representative of the at least one other property of the particular portion of the object; and generating at least one two-dimensional texture map for the at least a portion of the object based on the plurality of pixel values. performing identification of the object; accessing a database of materials associated with different objects to identify the material based on the object identification; determining from the database at least one other property of the particular portion of the object based on the material; generating a pixel value representative of the color of the particular portion of the object and representative of the at least one other property of the particular portion of the object; and generating at least one two-dimensional texture map for the at least a portion of the object based on the plurality of pixel values. <EOS>