A system is being developed within the framework of the European project, FING-ART-PRINT, to take “fingerprints” of objects of art and cultural heritage. These fingerprints consist of non-contact roughness and colour (spectral reflectance) measurements on a small area of the object. They can be used to unequivocally identify objects for documentation purposes, for tracking and tracing during transport, or for protecting them against theft and illegal trafficking, for example, as part of an “object passport”. This paper describes experience with the first prototype system, a roughness measurement device mounted on a robot arm, which allows the measurement of a fingerprint in almost any orientation of an object.