From the far, far away to the startlingly close, there have been over 600,000 asteroids identified in the inner solar system since 1980. This visualization tracks them all.
The video is the work of Scott Manley. Manley included the path of the near-by asteroids that have been identified starting 34 years ago and carrying on to this year. The asteroids that cross our own orbit are in red, the ones that just get close are in yellow, and the ones even further out are all in green.
(H/T commenter Atomic Samurai Robot from this post on the newest pictures of Asteroid HQ124, which just missed being included in the visualization having only been discovered this Spring.)
