The asteroid belt occupies the orbit between Mars and Jupiter, between from the Sun. It is thought to be remnants from the Solar System's formation that failed to coalesce because of the gravitational interference of Jupiter. The asteroid belt contains tens of thousands, possibly millions, of objects over one kilometre in diameter. Despite this, the total mass of the asteroid belt is unlikely to be more than a thousandth of that of Earth. The asteroid belt is very sparsely populated; spacecraft routinely pass through without incident.