The asteroid, named by the space agency as "2024 ON," is 621,000 miles from Earth

NASA has issued a high alert regarding a large asteroid that is set to pass by Earth.

The NASA Jet Propulsion Laboratory issued an alert for a "stadium-size" asteroid approaching Earth on Tuesday, Sept. 17. Four other asteroids were also included in the warning.

The large asteroid, named by the space organization as "2024 ON," is about 950 feet in diameter and is 621,000 miles from Earth, NASA said.

The four additional asteroids varied in size, with three said to be the size of houses and one the size of a building.

Related: Asteroid the Size of a Football Stadium Just Whizzed Past Earth -- and It's Coming Back in 2032

"The dashboard displays the next five Earth approaches to within 4.6 million miles (7.5 million kilometers or 19.5 times the distance to the moon)," per NASA's Asteroid Watch Dashboard. "An object larger than about 150 meters that can approach the Earth to within this distance is termed a potentially hazardous object."

The asteroid first passed by Earth in 2013, but is expected to make return in 2035, according to The New York Post and The Independent.

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The latest asteroid comes a year after NASA said another asteroid -- this one the size of the Empire State Building -- could hit Earth in less than 200 years.

Related: Skyscraper-Sized Asteroid Will Pass by Earth This Weekend at Half the Distance of the Moon

The near-Earth object, named Bennu, has been the focus of NASA research -- and the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification and Security - Regolith Explorer) spacecraft -- since the asteroid's discovery in 1999, NASA said at the time.

Studying Bennu is imperative because the asteroid has a slim shot of eventually hitting Earth. NASA said in a 2021 paper from the OSIRIS-REx science team gives Bennu a [one-in-2,700] chance of impacting Earth on Sept. 24, 2182.

Previously, it had "three close encounters [with Earth] in 1999, 2005 and 2011," per the paper.