Would it be possible to calculate the expected frequency of impact craters of all sizes on Earth
Yes. By looking at a nearby object that hasn't been subject to erosion and has been subject to the same position around the sun, you could estimate the distribution of impacts on the Earth in time and in size. The moon is excellent for this purpose.

Here's an article touching on the subject: http://adsabs.harvard.edu/full/1975LPSC....6.2597N