Asteroid
The dwarf planet Ceres is by far the largest asteroid, with a diameter of . The next largest are 4 Vesta and 2 Pallas, both with diameters of just over . Vesta is the only main-belt asteroid that can, on occasion, be visible to the naked eye. On some rare occasions, a near-Earth asteroid may briefly become visible without technical aid; see 99942 Apophis.
253 Mathilde
Mathilde was visited by the NEAR Shoemaker spacecraft during June 1997, on its way to asteroid 433 Eros. During the flyby, the spacecraft imaged a hemisphere of the asteroid, revealing many large craters that had gouged out depressions in the surface. It was the first carbonaceous asteroid to be explored and, until 21 Lutetia was visited in 2010, was the largest asteroid to be visited by a spacecraft.