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.
Asteroid
Until the age of space travel, objects in the asteroid belt were merely pinpricks of light in even the largest telescopes and their shapes and terrain remained a mystery. The best modern ground-based telescopes and the Earth-orbiting Hubble Space Telescope can resolve a small amount of detail on the surfaces of the largest asteroids, but even these mostly remain little more than fuzzy blobs. Limited information about the shapes and compositions of asteroids can be inferred from their light curves (their variation in brightness as they rotate) and their spectral properties, and asteroid sizes can be estimated by timing the lengths of star occulations (when an asteroid passes directly in front of a star). Radar imaging can yield good information about asteroid shapes and orbital and rotational parameters, especially for near-Earth asteroids. In terms of delta-v and propellant requirements, NEOs are more easily accessible than the Moon.