Is live AR coloring to 3D object possible in ARKit?

I am going to scan an image and after detection of an image, I am going to place 3D object on that image marker. I want to color that image marker and as I start coloring image marker, virtual object(placed 3D object) also get colored whichever part of image marker get colored dynamically. Is it possible with ARKit? If yes, any hint to achieve this?