Asteroid categories:
ATEN asteroids have orbits that lie inside the Earth's orbit...
AMOR asteroids have orbits that cross the orbit of Mars and approach the Earth's orbit...
I remember that asteroid Toutatis came close to Earth in December 1992, but did that particular pass make it an APOLLO asteroid (crossing Earth orbit)?
Don't know which pass this helio-centric view shows ( Toutatis comes close every 4 years ):
http://www.astrosurf.com/maury/asteroides/04179.gif
To be complete; ARJUNA asteroids orbit the Sun in a nearly circular path... existence confirmed ?
Nice link with asteroid scale models ( last column ):
http://analyzer.depaul.edu/see_project/orbits/default.htm
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