“…Images from spacecraft have been used to improve orbit knowledge on many deep space exploration missions [ 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 ]. In Near Earth Asteroid Rendezvous (NEAR) and Dawn missions, the gravity field and mass of the target body, the orbit of the target body around the Sun, the orientation and spin of the target, the location of the optical landmarks on the surface of the target, and orbits of spacecraft were jointly determined using earth-based tracking and optical landmark tracking data in a global estimation procedure [ 11 , 12 , 13 ].…”