  Asteroid phase curves are used to derive fundamental physical properties
through the determination of the absolute magnitude H. The upcoming visible
Legacy Survey of Space and Time (LSST) and mid-infrared Near-Earth Object
Surveillance Mission (NEOSM) surveys rely on these absolute magnitudes to
derive the colours and albedos of millions of asteroids. Furthermore, the shape
of the phase curves reflects their surface compositions, allowing for
conclusions on their taxonomy. We derive asteroid phase curves from dual-band
photometry acquired by the Asteroid Terrestrial-impact Last Alert System
telescopes. Using Bayesian parameter inference, we retrieve the absolute
magnitudes and slope parameters of 127,012 phase curves of 94,777 asteroids in
the photometric $H, G_1, G_2$- and $H, G^*_{12}$-systems. The taxonomic
complexes of asteroids separate in the observed $G_1, G_2$-distributions,
correlating with their mean visual albedo. This allows for differentiating the
X-complex into the P-, M-, and E-complexes using the slope parameters as
alternative to albedo measurements. Further, taxonomic misclassifications from
spectrophotometric datasets as well as interlopers in dynamical families of
asteroids reveal themselves in $G_1, G_2$-space. The $H, G^*_{12}$-model
applied to the serendipitous observations is unable to resolve target taxonomy.
The $G_1, G_2$ phase coefficients show wavelength-dependency for the majority
of taxonomic complexes. Serendipitous asteroid observations allow for reliable
phase curve determination for a large number of asteroids. To ensure that the
acquired absolute magnitudes are suited for colour computations, it is
imperative that future surveys densely cover the opposition effects of the
phase curves, minimizing the uncertainty on H. The phase curve slope parameters
offer an accessible dimension for taxonomic classification.
