Recently, there are growing needs for haptic exploration to estimate and extract physical object properties such as mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic vision, which is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, and relational constraints estimation, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.