Key points from article :
NASA has estimated that "2012 TC4" is 15m to 30m long (45ft to 100ft) - and in space terms, the asteroid narrowly missed our planet.
Its closest point of contact with earth was predicted to be over Antarctica at 7.40am UK time.
TC4, will return to Earth in 2050 and 2079, is one of thousands of asteroids with a known location.
