Fitting deformable superquadric based on geometric distance

We propose a geometric fitting algorithm for the deformable superquadric model, which is the computation of a measure of vector from each given point to orthogonal contacting point on the superquadric model, and estimates the optimum parameters of the model to minimize the squares sum of error distances. The estimated parameters by the proposed algorithm are invariant to coordinate transformation and we can easily find a physical interpretation of the fitting parameters.