Shape reconstruction of irregular bodies with multiple complementary data sources

We discuss inversion methods for shape reconstruction with complementary data sources. The current main sources are photometry, adaptive optics or other images, occultation timings, and interferometry, and the procedure can readily be extended to include range-Doppler radar and thermal infrared data as well. We introduce the octantoid, a generally applicable shape support that can be automatically used for surface types encountered in planetary research, including strongly nonconvex or non-starlike shapes. We present models of Kleopatra and Hermione from multimodal data as examples of this approach. An important concept in this approach is the optimal weighting of the various data modes. We define the maximum compatibility estimate, a multimodal generalization of the maximum likelihood estimate, for this purpose. We also present a specific version of the procedure for asteroid flyby missions, with which one can reconstruct the complete shape of the target by using the flyby-based map of a part of the surface together with other available data. Finally, we show that the relative volume error of a shape solution is usually approximately equal to the relative shape error rather than its multiple. Our algorithms are trivially parallelizable, so running the code on a CUDA-enabled graphics processing unit is some two orders of magnitude faster than the usual single-processor mode.