This incredible video from the Arecibo Observatory (and recommended by Neil deGrasse Tyson on Twitter) shows the locations of all the known asteroids starting in 1980, adding more as they are discovered (highlighted in white so you can pick out the new ones.) But the final color of the asteroids tells you more about them: Earth crossing asteroids are red, Earth Approachers (with a perihelion less than 1.3AU) are yellow, while all others are Green.