Not all asteroids look the same. In fact, the appearance of an asteroid can vary depending on factors like its age, composition and how it evolved. In 2000, after a four-year journey from Earth, NASA’s NEAR Shoemaker spacecraft began circling Eros, the second-largest near-Earth asteroid. Researchers believe that Eros is a pristine leftover from when the solar system formed 4.6 billion years ago. To learn more about Eros, a laser rangefinder instrument aboard the spacecraft pinged the 20-mile-long chunk of rock with approximately 8 million infrared pulses over the course of a year. The light-based measurements yielded information about the height and shape of features on the asteroid’s surface, allowing scientists to construct a detailed 3-D model of its topography. The model helped scientists study the asteroid’s many craters and offered insights into its internal structure. Watch the video for a tour of Eros.