Actually that isn't true, Earth hasn't cleared it orbit, the Earth passed through several asteroid fields which is why we have meteor storms.
Actually, that isn't accurate at all. We have meteor showers for a variety of reasons, but 'passing through several asteroid fields' in not one of them.
1 - There is only one main asteroid belt, located between Mars and Jupiter.
2 - Earth's orbit does not cross the asteroid belt.
3 - Meteors and meteorites vary in size from grains of sand to the size of a bus. Most aren't larger than a marble or an ice cube.
4 - Most meteors on Earth are the result of Earth passing through the remnants of comets that have orbited the Sun.
5 - Earth has quite effectively cleared its orbit and has for several hundred million years.
What @Alatar is referring to is the third rule of planetary classification and his statement is exactly accurate. Where Pluto resides, within the Kuiper Belt, there are swarms of bodies meandering about. The 'larger' bodies have only just begun to 'mop up'.
This accretion process takes much longer as you get further from your host star as the distances are much, much more vast.