Some 30,000 asteroids of all sizes -- including more than 850 larger than a kilometer wide -- have been catalogued in the vicinity of the Earth, earning them the label "Near Earth Objects" (NEOs). None of them threaten Earth for the next 100 years.
According to Sheppard, there are "likely 20 to 50 large NEOs left to find," but most are on orbits that put them in the Sun's glare.