Amazing facts about 1998 QE2's passage past Earth...
At the time I took the image posted above, 1998 QE2 at 6.1 million kilometres distance subtended an angle of less than 1/10 of an arcsecond.
Earth viewed from the asteroid at a distance of 6.1 million kilometres would look only a quarter of the diameter of the Moon viewed from Earth. Given the Earth's diameter of 12,756 km, try to imagine how tiny a 2.7km diameter rock on Earth would appear from that distance - the equivalent of trying to spot something slightly smaller than Uluru from that distance.
(need to get a life...)
Cheers -