Convex hull inversion results for non-convex asteroids. Panel a: asteroid 433 Eros. The top row shows the NEAR Shoemaker mission shape model (Zuber et al. 2000), the middle row shows its convex hull, and the bottom row shows our inversion result. Panel b: asteroid 113 Lutetia. The top row shows the shape model by (Farnham 2013), the middle rows shows its convex hull, and the bottom row shows our inversion result.