One thing that humans have been very good at over the last 200 years has been finding new sources of energy. At times this quest has meant gross pollution, but there have been developments, that when not let to get out of control, have produced vast amounts of energy without much more pollution than waste-heat.
If further energy production technologies are developed that continue to produce less and less pollution, and if humanity eventually concludes that it wants to stop mining Earth for whatever reason, there may come a tipping point where it makes sense to start mining extraterrestrial sources for our raw materials, especially if normally-polluting means to refine those materials into products en-route from the source to delivery.
I do not expect this to happen quickly, it'll be on a hundreds-of-years timescale. We will have to continue to pollute, then continue to engage in destructive forms of mining, and continue to grow as a population all while continuing to develop new space technology and new means of energy production, such that the population gets fed-up and either governments or companies decide to try it. It might also have to wait for space-based outposts to exist and for those outposts to work toward self-sufficiency and away from being entirely dependent on Earth-based supply, such that material refining tech that works off-Earth is developed. Regardless it won't happen in our lifetimes, our childrens' lifetimes, and probably not their childrens' lifetimes, so long as it's still not cost-effective and there's not enough will to do it.