The invention is a computer implemented method, device, system, or article for reconstructing a surface of an object. In particular, the invention comprises estimating a non-convex hull signed distance function parameters from a data set of an object and evaluating the non-convex hull signed distance function on vertices of a volumetric mesh. The invention further comprises approximating the zero level set of the non-convex hull signed distance function by a polygonal mesh using an isosurface algorithm to provide surface reconstruction of an object.