Stereophotoclinometry on the OSIRIS-REx Mission: Mathematics and Methods

Stereophotoclinometry (SPC) makes it possible to extract the shapes of surfaces by combining information from images, namely stereo parallax data and surface shading from slopes, with knowledge of the location of a spacecraft. This technique has been used extensively in the past few decades to describe the shapes of planets and small bodies, such as asteroids and comets. It has also been used to carefully navigate spacecraft around very small bodies, as in the case of the OSIRIS-REx mission to the similar to 500 m diameter asteroid (101955) Bennu. This paper describes the mathematical foundation of SPC, with examples from the OSIRIS-REx mission.