This thesis proposes techniques to produce wall-shear stress estimates from three-dimensional Lagrangian particle tracking (LPT). Several works have already faced the problem of determining near-wall velocity and in particular skin friction for the case of a flat surface. Here, the problem is translated to generic three-dimensional objects. The work makes use of an experimental database, recently produced, with LPT (Hendriksen et al. 2024), that provides in-situ registration of the object, for three shapes of increasing complexity: a cube, an airfoil and a cyclist. Four techniques are examined and compared, including interpolation method as well as local data regression. The uncertainty is evaluated a-posteriori, comparing the results with a local coin-stacking technique, where applicable. All techniques yield accurate and robust representations of the skin friction lines around three-dimensional objects, allowing for an insightful inspection of the near-surface flow topology. Instead, distinct differences are found when the skin-friction magnitude is estimated.