low density of materials within the belt, the odds of a probe running into an asteroid are estimated at less than 1 in 1 billion. Most main belt asteroids imaged to date have come from brief flyby opportunities by probes headed for other targets. Only the Dawn mission has studied main belt asteroids for a protracted period in orbit. The Galileo spacecraft imaged 951 Gaspra in 1991 and 243 Ida in 1993, then NEAR imaged 253 Mathilde in 1997 and landed on near–Earth asteroid 433 Eros in February 2001. Cassini imaged 2685 Masursky in 2000, Stardust imaged 5535 Annefrank in 2002, New Horizons imaged 132524 APL in 2006, and Rosetta imaged 2867 Šteins in September 2008 and 21 Lutetia in July 2010. Dawn orbited Vesta between July 2011 and September 2012 and has orbited Ceres since March 2015. The Lucy space probe is expected to make a flyby of 152830 Dinkinesh in 2023, on its way to the Jupiter Trojans. ESA's JUICE mission will pass through the asteroid belt twice, with a proposed flyby of the asteroid 223 Rosa in 2029. The Psyche'' spacecraft is a planned NASA mission to the large M-type asteroid 16 Psyche. See also References External links Asteroids Page at NASA's Solar System Exploration Plots of eccentricity vs. semi-major axis and inclination vs. semi-major axis at Asteroid Dynamic Site Asteroid groups and families Solar System