In the past decade, hundreds of asteroid shape models have been derived using
the lightcurve inversion method. At the same time, a new framework of 3-D shape
modeling based on the combined analysis of widely different data sources such
as optical lightcurves, disk-resolved images, stellar occultation timings,
mid-infrared thermal radiometry, optical interferometry, and radar
delay-Doppler data, has been developed. This multi-data approach allows the
determination of most of the physical and surface properties of asteroids in a
single, coherent inversion, with spectacular results. We review the main
results of asteroid lightcurve inversion and also recent advances in multi-data
modeling. We show that models based on remote sensing data were confirmed by
spacecraft encounters with asteroids, and we discuss how the multiplication of
highly detailed 3-D models will help to refine our general knowledge of the
asteroid population. The physical and surface properties of asteroids, i.e.,
their spin, 3-D shape, density, thermal inertia, surface roughness, are among
the least known of all asteroid properties. Apart for the albedo and diameter,
we have access to the whole picture for only a few hundreds of asteroids. These
quantities are nevertheless very important to understand as they affect the
non-gravitational Yarkovsky effect responsible for meteorite delivery to Earth,
or the bulk composition and internal structure of asteroids.Comment: chapter that will appear in a Space Science Series book Asteroids I