Here's a really cool visualisation from astronomer Scott Manley that shows what our sky might look like if we could actually see all the asteroids. Asteroids aren't visible to the naked eye because they're too small to register, but Manley was able to reveal the known asteroids and speed them up to exaggerate how they would look in real life.
It's a really wonderful 360-degree video too. It imagines you standing on Earth and looking up at the night sky all around you. Play around with it by dragging the cursor around the video.