Below are the sixteen most-massive measured asteroids. Ceres, at a third the estimated mass of the asteroid belt, is half again as massive as the next fifteen put together. The masses of asteroids are estimated from perturbations they induce on the orbits of other asteroids, except for asteroids that have been visited by spacecraft or have an observable moon, where a direct mass calculation is possible. Different sets of astrometric observations lead to different mass determinations; the biggest problem is accounting for the aggregate perturbations caused by all of the smaller asteroids.