Atira asteroids or Apohele asteroids, also known as interior-Earth objects (IEOs), are Near-Earth objects whose orbits are entirely confined within Earth's orbit; that is, their orbit has an aphelion smaller than Earth's perihelion, which is 0.983 astronomical units (AU). Atira asteroids are by far the least numerous group of near-Earth objects, compared to the more populous Aten, Apollo and Amor asteroids.

The Amor asteroids are a group of near-Earth asteroids named after the archetype object 1221 Amor. The orbital perihelion of these objects is close to, but greater than, the orbital aphelion of Earth, with most Amors crossing the orbit of Mars. The Amor asteroid 433 Eros was the first asteroid to be orbited and landed upon by a robotic space probe.