"Galileo" imaged 951 Gaspra in 1991 and 243 Ida in 1993, NEAR imaged 253 Mathilde in 1997 and landed on 433 Eros in February 2001, "Cassini" imaged 2685 Masursky in 2000, "Stardust" imaged 5535 Annefrank in 2002, "New Horizons" imaged 132524 APL in 2006, "Rosetta" imaged 2867 Šteins in September 2008 and 21 Lutetia in July 2010, and "Dawn" orbited Vesta between July 2011 and September 2012 and has orbited Ceres since March 2015.On its way to Jupiter, "Juno" traversed the asteroid belt without collecting science data.