Sizes of the first ten asteroids to be discovered, compared to the Moon
and its moon
. Dactyl is the first satellite of an asteroid to be discovered.
The first asteroid to be discovered,
Ceres, was originally considered to be a new planet.
[note 1] This was followed by the discovery of other similar bodies, which, with the equipment of the time, appeared to be points of light, like stars, showing little or no planetary disc, though readily distinguishable from stars due to their apparent motions. This prompted the astronomer
Sir William Herschel to propose the term "asteroid",
[note 2] coined in Greek as ἀστεροειδής, or asteroeidēs, meaning 'star-like, star-shaped', and derived from the Ancient Greek
ἀστήρ astēr 'star, planet'. In the early second half of the nineteenth century, the terms "asteroid" and "planet" (not always qualified as "minor") were still used interchangeably.
Asteroid discovery methods have dramatically improved over the past two centuries.
In the last years of the 18th century, Baron
Franz Xaver von Zach organized a group of 24 astronomers to search the sky for the missing planet predicted at about 2.8
AU from the Sun by the
Titius-Bode law, partly because of the discovery, by Sir
William Herschel in 1781, of the planet
Uranus at the distance predicted by the law. This task required that hand-drawn sky charts be prepared for all stars in the
zodiacal band down to an agreed-upon limit of faintness. On subsequent nights, the sky would be charted again and any moving object would, hopefully, be spotted. The expected motion of the missing planet was about 30 seconds of arc per hour, readily discernible by observers.
The first object,
Ceres, was not discovered by a member of the group, but rather by accident in 1801 by
Giuseppe Piazzi, director of the observatory of
Sicily. He discovered a new star-like object in
Taurus and followed the displacement of this object during several nights. Later that year,
Carl Friedrich Gauss used these observations to calculate the orbit of this unknown object, which was found to be between the planets
Jupiter. Piazzi named it after
Ceres, the Roman goddess of agriculture.
Three other asteroids (
3 Juno, and
4 Vesta) were discovered over the next few years, with Vesta found in 1807. After eight more years of fruitless searches, most astronomers assumed that there were no more and abandoned any further searches.
Karl Ludwig Hencke persisted, and began searching for more asteroids in 1830. Fifteen years later, he found
5 Astraea, the first new asteroid in 38 years. He also found
6 Hebe less than two years later. After this, other astronomers joined in the search and at least one new asteroid was discovered every year after that (except the wartime year 1945). Notable asteroid hunters of this early era were
J. R. Hind,
Annibale de Gasparis,
H. M. S. Goldschmidt,
Norman Robert Pogson,
E. W. Tempel,
J. C. Watson,
C. H. F. Peters,
J. Palisa, the
Henry brothers and
Max Wolf pioneered the use of
astrophotography to detect asteroids, which appeared as short streaks on long-exposure photographic plates. This dramatically increased the rate of detection compared with earlier visual methods: Wolf alone discovered 248 asteroids, beginning with
323 Brucia, whereas only slightly more than 300 had been discovered up to that point. It was known that there were many more, but most astronomers did not bother with them, calling them "vermin of the skies",
 a phrase variously attributed to
 Even a century later, only a few thousand asteroids were identified, numbered and named.
Manual methods of the 1900s and modern reporting
Until 1998, asteroids were discovered by a four-step process. First, a region of the sky was
photographed by a wide-field
astrograph. Pairs of photographs were taken, typically one hour apart. Multiple pairs could be taken over a series of days. Second, the two films or
plates of the same region were viewed under a
stereoscope. Any body in orbit around the Sun would move slightly between the pair of films. Under the stereoscope, the image of the body would seem to float slightly above the background of stars. Third, once a moving body was identified, its location would be measured precisely using a digitizing microscope. The location would be measured relative to known star locations.
These first three steps do not constitute asteroid discovery: the observer has only found an apparition, which gets a
provisional designation, made up of the year of discovery, a letter representing the half-month of discovery, and finally a letter and a number indicating the discovery's sequential number (example: 1998 FJ74).
The last step of discovery is to send the locations and time of observations to the
Minor Planet Center, where computer programs determine whether an apparition ties together earlier apparitions into a single orbit. If so, the object receives a catalogue number and the observer of the first apparition with a calculated orbit is declared the discoverer, and granted the honor of naming the object subject to the approval of the
International Astronomical Union.
There is increasing interest in identifying asteroids whose orbits cross
Earth's, and that could, given enough time, collide with Earth (see
Earth-crosser asteroids). The three most important groups of
near-Earth asteroids are the
asteroid deflection strategies have been proposed, as early as the 1960s.
433 Eros had been discovered as long ago as 1898, and the 1930s brought a flurry of similar objects. In order of discovery, these were:
2101 Adonis, and finally
69230 Hermes, which approached within 0.005
Earth in 1937. Astronomers began to realize the possibilities of Earth impact.
Two events in later decades increased the alarm: the increasing acceptance of the
Alvarez hypothesis that an
impact event resulted in the
Cretaceous–Paleogene extinction, and the 1994 observation of
Comet Shoemaker-Levy 9 crashing into
Jupiter. The U.S. military also declassified the information that its
military satellites, built to
detect nuclear explosions, had detected hundreds of upper-atmosphere impacts by objects ranging from one to ten meters across.
All these considerations helped spur the launch of highly efficient surveys that consist of charge-coupled device (
CCD) cameras and computers directly connected to telescopes. As of 2011 , it was estimated that 89% to 96% of near-Earth asteroids one kilometer or larger in diameter had been discovered.
 A list of teams using such systems includes:
As of 20 September 2013
 Among all the surveys, 4711 near-Earth asteroids have been discovered
 including over 600 more than 1 km (0.6 mi) in diameter.
, the LINEAR system alone has discovered 138,393 asteroids.