4. INTANGIBLE ASSETS

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

	December 31, 2018
								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		(819	)		2,110	8.0
Software development in process costs		674		—			674	—
IntellitraffiQ development costs		468		(59	)		409	4.0
Wrong Way development costs		228		(104	)		124	2.0
	$	8,199	$	(4,882	)	$	3,317	7.1

	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 in process costs		1,008		—			1,008	—
	$	7,837	$	(4,352	)	$	3,485	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
2019	$	598
2020		493
2021		484
2022		426
2023		367

The above amortization expense relates to various capitalized costs related to software development. 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, 2018.