This frame from a sequence of four images taken during one night of observation by NASA's Catalina Sky Survey near Tucson, Arizona, shows the speck of light that moves relative to the background stars is a small asteroid that was, at the time, about as far away as the moon.  This asteroid, named 2014 AA, was the second one ever detected on course to impact Earth. It was estimated to be about 6 to 10 feet (2 to 3 meters) in diameter, and it harmlessly hit Earth's atmosphere over the Atlantic Ocean about 20 hours after its discovery in these images.  The images were taken Jan. 1, 2014. They provide an example of how asteroids are typically discovered by detection of their motion relative to background stars.  An animation is available at https://photojournal.jpl.nasa.gov/catalog/PIA21712
Sky Survey Detected This Small Asteroid
These are the discovery observations of asteroid 2018 LA from the Catalina Sky Survey, taken June 2, 2018. About eight hours after these images were taken, the asteroid entered Earth's atmosphere (about 9:44 a.m. PDT, 12:44 p.m. EDT, 16:44 UTC, 6:44 p.m. local Botswana time), and disintegrated in the upper atmosphere near Botswana, Africa.  https://photojournal.jpl.nasa.gov/catalog/PIA22468
Asteroid 2018 LA