How can I find a maximal inscribed ellipsoid to a *concave* set of points, in 3D?

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I have a set of points which describe the surface of an irregular, natural (i.e., occurs in nature) object. This point set is not necessarily convex, and contains occasional indentations so parts of it are concave. There are well-described methods for determining maximal ellipsoids in convex polytopes, and minimal enclosing ellipsoids for any set of points, but so far I haven't found a method to determine a maximal volume ellipsoid which fits inside a shape with some convex and some concave portions.