This paper presents a method to determine the shape of a space object in orbit while simultaneously recovering the observed space object's inertial orientation and trajectory. This work studies a shape estimation approach based on octant triangulation applied to light curve and angles data fusion. The filter employs the Unscented estimation approach, reducing passively-collected electro-optical data to infer the unknown state vector comprised of the space object inertial-to-body orientation, position and their respective temporal rates. Recovering these characteristics and trajectories with sufficient accuracy is shown in this paper. The performance of this strategy is demonstrated via simulated scenarios.