The energy released by an impactor depends on diameter, density, velocity, and angle. The diameter of most near-Earth asteroids that have not been studied by radar or infrared can generally only be estimated within about a factor of two, by basing it on the asteroid's brightness. The density is generally assumed, because the diameter and mass, from which density can be calculated, are also generally estimated. Due to Earth's escape velocity, the minimum impact velocity is 11 km/s with asteroid impacts averaging around 17 km/s on the Earth. The most probable impact angle is 45 degrees.