Asteroid
Although their location in the asteroid belt excludes them from planet status, the three largest objects, Ceres, Vesta, and Pallas, are intact protoplanets that share many characteristics common to planets, and are atypical compared to the majority of "potato"-shaped asteroids. The fourth largest asteroid, Hygiea, has an undifferentiated interior, like the majority of asteroids. Between them, the four largest asteroids constitute half the mass of the asteroid belt.
Standard asteroid physical characteristics
Such estimates can be indicated as approximate by use of a tilde "~". Besides these "guesstimates", masses can be obtained for the larger asteroids by solving for the perturbations they cause in each other's orbits, or when the asteroid has an orbiting companion of known orbital radius. The masses of the largest asterois 1 Ceres, 2 Pallas, and 4 Vesta can also be obtained from perturbations of Mars.
While these perturbations are tiny, they can be accurately measured from radar ranging data from the Earth to spacecraft on the surface of Mars, such as the Viking landers.