The Near Earth Object Map
The image below is an up to date map of the solar system displaying the orbits of the terrestrial planets and the estimated position of thousands of known asteroids. This diagram is missing comets, space probes and, of course, the undiscovered asteroids. Even conservative estimates would suggest that for every asteroid on a dangerous Earth-Approaching orbit there are hundreds more which have yet to be discovered. There are over 300 known objects on Earth-crossing orbits, the majority of which are potentially capable of causing death and destruction on a scale unheard of in human history.
(only a very small section of the full map)
The terrestrial planets (Mercury, Venus, Earth and Mars) are shown on the diagram by Cyan or White squares, and their orbits are represented by the blue ellipses around the Sun (the yellow dot at the centre). The Earth is highlighted because of its special importance to us. Small green points mark the location of asteroids which do not approach close to the Earth right now. This does not exclude the possibility that they will do so in the future but generally we can consider the Earth to be safe from these for the near future. Yellow objects (with the exception of the one in the middle which we astronomers call the Sun ;-) are Earth approaching asteroids which are called Amors after the first one discovered. Amors have orbits which come close to the Earth but they don't cross the Earth's orbit. However, their orbits are close enough to the Earth that they could potentially be perturbed by the influence of the planets and begin to cross the Earth's orbit in a short time. There are over 300 known objects on such orbits.
full text and map at the Armagh Observatory site