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Near-Earth Asteroids Visited by Spacecraft Near-Earth asteroids come in a variety of shapes and sizes. Pictured here to scale with one another are the only five near-Earth asteroids that have ever been visited by a spacecraft. From top to bottom: Eros, Toutatis, Ryugu, Bennu, and Itokawa. Eros measures roughly 33 kilometers (21 miles) across, while Bennu and Itokawa measure just a half-kilometer across. NASA, GSFC, JHUAPL, CNSA, JAXA, University of Arizona