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-\section{Introduction}
-\label{introduction}
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 When we look at the surface of an everyday object, we then touch it to confirm or contrast our initial visual impression and to estimate the properties of the object \cite{ernst2002humans}.
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 One of the main characteristics of a textured surface is its roughness, \ie the micro-geometry of the material \cite{klatzky2003feeling}, which is perceived equally well and similarly by both sight and touch \cite{bergmanntiest2007haptic,baumgartner2013visual,vardar2019fingertip}.