A website promoting asteroid mining has a remarkable interactive moving map of a multitude of known asteroids. It might take a little while to get used to the interface, but it's a load of fun. The default appears to be looking at the solar system from the south, but you can click and drag to flip it over if that bothers you. The map sensibly moves far faster than real time so you can get a feel for the flow.
If you click on the "Earth" button near the top left you'll see a circle moving around the Earth's orbit. This will help you get an orientation. You can then click on one of the asteroid identifiers in the column at the left (listed together with the potential value of mined minerals) and see the asteroid circled.