This model of 4179 Toutatis, an asteroid 4.6 km long, was constructed from observations by the radio telescope at Arecibo, by Dr. Steven Ostro. More about it is here
I got the model from Dr. Ostro, but this data is public, so I've made it available for download. Many more asteroid models are linked from this NASA page
, search for "3-D" to find them.