  In this work, we present an optical survey of mm-sized meteoroids using the
Canadian Automated Meteor Observatory's (CAMO) mirror tracking system. The
system tracks meteors to magnitude +7.5 through an image-intensified telescopic
system which has a spatial accuracy of $\sim$1 m and a temporal resolution of
10 ms. We analyze 41 meteors from 13 showers with known parent bodies, recorded
between 2016 and 2022. We fit a numerical ablation and fragmentation model to
our data which models meteoroid fragmentation as erosion into 10 - 500 $\mu$m
constituent grains and uses the observed wake as a hard constraint on the model
parameters. We measure average bulk meteoroid densities which are consistent
with in situ measurements: 602 $\pm$ 155 kg m$^{-3}$ for Jupiter-family and 345
$\pm$ 48 kg m$^{-3}$ for Halley-type showers. The Geminids had the highest
measured bulk density of 1387 $\pm$ 240 kg m$^{-3}$, consistent with
carbonaceous material. We fail to reproduce the high bulk density ($>3000$ kg
m$^{-3}$) for Jupiter-family meteoroids previously reported in the literature
derived using fragmentation models on data sets with fewer observational
constraints. We also provide estimates of the meteoroid grain sizes, grain mass
distributions, and energy necessary to trigger the erosion for meteoroids in
the analyzed showers.
