Let's see, platinum goes for about $1360/oz right now (http://www.kitco.com/charts/liveplatinum.html). At 28.35 grams per ounce, that's $47.97 per gram. That's $47,970,000 per tonne. Wikipedia tells me that 239 tonnes of platinum were sold in 2006, so that would be a value of about $11.9 billion per year in the global platinum trade.10,000 tons of platinum? What would that do to the price of platinum?
10,000 tonnes of platinum would clearly shock the price down - who knows how low. But the overall total value of platinum traded would go up, with new demand opening up at lower prices.
The 10,000 tonnes would effectively give you 98% of the market if you could sell it all. Maybe more, if Earth-side producers decide it isn't worth mining platinum anymore. Let's pretend that the world is only willing to spend the current amount of $11.9 billion on platinum no matter how much is available, and that for some strange reason you must sell it all in one year. You'd still get 98% of the $11.9 billion market. An increase in supply will never shrink a market (edit* okay, maybe eventually you could saturate it, but this isn't likely with a few asteroids). This would say that space mining is worth at least $11.9 billion a year.
You rapidly run into diminishing marginal returns of course. If you only get one asteroid, you wouldn't sell it all at once. You'd split it up and dole out the pieces for ten years and make $120+ billion. You'd make $11.9+ billion per year, with the lowest costs per year because it only takes one mission. Another mission doesn't double the worth of platinum you can sell per year. The missions do get a bit cheaper though, but it probably wouldn't take that many missions in a ten year time frame before you've maxed your per mission value. Maybe two or three.
Of course, there are other metals out there. 10k tonnes of platinum plus 10k tonnes of gold plus 10k tonnes of scandium and so on can add up to a lot of mining missions per decade and a lot of value per year. I think that a value of $100 billion per year from space resources is a highly conservative estimate.