I first tried pickled asparagus a few years ago. It's pretty good and is more or less readily available in grocery stores. Although I'm not yet growing my own asparagus--hopefully I'll get some crowns in the ground next spring--I wanted to try making my own so gave it a try. The Ball Blue Book, NCHFP, and Pickyourown.org have essentially the same recipe, which, as I have noted before about other foods, calls for a density per jar that I can't match. I get about one pound per jar. The first time I pickled asparagus, I got way more than I could pack into eight quarts and ended up binging on it for the next few days to use up the excess (I usually try to avoid multiple canner runs back-to-back).

8 lb. asparagus
2/3 cup canning salt
8 quarts water
8 quarts vinegar
8 teaspoons dill seed (1 per quart jar)
About 16 cloves of garlic (nominally, 2 per quart jar, but I also will just use one if it's huge as shown in the picture below).
This recipe is very easily scaled up and down, and of course can be used for pint jars, as well. There are also 12-ounce jars that are taller than normal that can be used for asparagus, but I don't have any.
I cut the top part of the spears to 5.5" for quarts and 4" for pints, then either leave the rest intact or further cut it into smaller pieces to facilitate jar packing. The ends of the spears are often tough; usually, they're white if so (although sometimes white ends are tender). Each quart jar gets a teaspoon of dill seed in the bottom, then is packed with cut spears, then receives a couple of cloves of garlic late in the process, and last is filled with brine, leaving 1/4" headspace.

The 50/50 mix of vinegar and water yields a pH of about 3.0; it's the same as is used for dilly beans and other vegetable pickles.
The filled jars get canned in a boiling water bath for 15 minutes.
My recipe above yielded almost exactly eight quarts with very little excess of any ingredient: I used up all but about a cup of brine and had maybe a quarter of a pint of cut pieces left that I couldn't get into a jar. I'll eat them fresh. And I have had no failures to seal since I went back to single-use lids exclusively.
The picture below shows the jars after coming out of the canner (along with the aforementioned gargantuan garlic clove). So far, I have had no bad results with pickling asparagus, but this was only my third attempt. One batch a year is enough for now; I don't go through all that much.
As with most canning, labor excluded, doing it at home is cheaper. A quick glance online shows pickled asparagus for about $4.50 per pint; I canned the equivalent of 16 pints for under $22 (vinegar $2, asparagus $16, dill seed < $1, lids $2, canning salt $0.20). This is one of few canning exercises where it's a decent tradeoff even considering the labor involved: total time start to finish was only about 2.5 hours.