Hi Op
Of course you should meet up with her,
Why do you have to have a talk with your husband about doing this then?
You Can talk to whoever you like,
It's not husband business really.
It starting to sound as if you could potentially be in "iffy" , something off type of relationship in which he is a controlling/manipulative one too
There's other ways you can help this woman too, starting by meeting up with a ☕️ coffee and a catch up at a cafe
You could give her useful tel numbers contacts address/emails of beneficial charities organisations that will help her,
You could even vist one or two charties/organisations with her if you got a bit/Some spare time ?
I can understand your husband reservations too,
As he is obviously very worried it could come back to bite him /both of you on the arse,
If you do decide for her to stay over, obviously only do it for minimum temporarily period at most,
And pro actively help her to stand on her two feet whatever that will be,
Obviously you can't do everything for her, as she will become too dependent on you not good for you or her,
It's essentially supporting her to see what help is are available out there, (so she can help herself re gain lost cofindence in herself