The major asteroids listed here are notable for a variety of reasons. Three of them are objects originally classified as planets until astronomers realized that these objects were part of a large group of similar objects. Others are not in the main asteroid belt and tend to approach Earth closely.
VestaVesta was the fourth body in the asteroid belt to be discovered. It was discovered in 1807. For many years after that, most astronomers regarded it as a planet. It has a diameter of 530 meters and a mass of 3 * 1017 kg
ErosEros will make its next close approach to Earth (to within 0.1790 AU) on January 31, 2012. It is an irregular object measuring about 33,000 meters long and 13,000 meters wide. On February 12, 2001, the NEAR-Shoemaker rocket probe landed on this object and sent back multiple high-quality images.