Material : Algorithm Parameter Settings and Additional Results

We fixed the pot to be 0.6 units in length with radius in the range [0.1875, 0.3125]. Further, we fixed the resolution of the pot to 314 circular sections with each section containing 100 points. Thus, the difference in height between each section is set to 6 × 10−4 units. The SoftKinetic sensor provides a spatial resolution of 0.9 mm in the x−y (frontal) plane and 0.01mm along z (depth). After spatial mapping and PCL scaling, the average distance between two neighboring points in the PCL were observed to be 2× 10−3, 4× 10−4 and 1.5× 10−3 units along x, y and z directions respectively. The proximity and convergence thresholds were set as εP = 0.1 and εC = 10 −8 respectively.