5. INTANGIBLE ASSETS

Intangible assets consisted of the following (dollars in thousands):

	December 31, 2017
							Weighted
	Gross				Net		Average
	Carrying		Accumulated		Carrying		Useful Life
	Amount		Amortization		Value		(in Years)
Developed technology	$	3,900	$	(3,900)	$	—	—
Vision development costs		2,929		(452)		2,477	8.0
Software development costs		1,008		—		1,008	—
	$	7,837	$	(4,352)	$	3,485	8.0

	December 31, 2016
							Weighted
	Gross				Net		Average
	Carrying		Accumulated		Carrying		Useful Life
	Amount		Amortization		Value		(in Years)
Developed technology	$	3,900	$	(3,900)	$	—	—
Vision development costs		2,885		(90)		2,795	8.0
	$	6,785	$	(3,990)	$	2,795	8.0

The estimated future amortization expense related to other intangible assets for the next five fiscal years is as follows (dollars in thousands):

		Amortization
		Expense
2018	$	367
2019		367
2020		367
2021		367
2022		367

The above amortization expense relates to capitalized costs related to software development of the Autoscope Vision, which was available for sale starting in the fourth quarter of 2016. This expense is included as a component of royalty cost of revenue. Additionally, future amortization amounts presented above are estimates. Actual future amortization expense may be different due to future acquisitions, impairments, changes in amortization periods, or other factors.

In accordance with United States generally accepted accounting principles ("GAAP"), we performed an assessment of recoverability on our software development costs, which is impacted by estimates and assumptions of future revenue and expenses for these products, as well as other factors such as changes in product technologies. We determined that the estimated undiscounted cash flows is greater than the asset carrying value and there were no impairment triggers as of December 31, 2017.