Radar echoes from the near-earth asteroid 1627 Ivar, whose orbit crosses the earth's, reveal it to be about twice as long as it is wide, with a maximum dimension no less than 7 km and probably within 20 percent of 12 km. The surface is fairly smooth at centimeter-to-meter scales but appears irregular and nonconvex at kilometer scales.
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Ostro et al. (1990) studied this question.