In a modern car my rule of thumb, regardless of outside temperature, is to start it and let the idle speed reach its initial drop (this is usually less than fifteen seconds, I don't wait for it to fall all the way down to normal hot idle speed), and then drive moderately for the first several minutes and certainly until after the engine has reached normal operating temperature.
I modify that slightly when it's below freezing; I would do that but also wait an additional thirty seconds after the idle drop. And once I got to single digits I'd probably wait another minute, or at least until I saw some movement in the water temperature gauge.
But as Kajtek1 says, extended idling beyond a basic warmup/stabilization period doesn't do much good.* An initial short warmup/stabilization period followed by moderate driving until the engine has reached full operating temperature is best (your engine will warm up faster this way as well).
The best point of the article is how horrible short trip driving is for your car. I agree you should not drive less than ten miles from a cold start, at least not with any regularity. For example, if you live only six miles from work, then take a circuitous route to or from work to get it more to ten or twelve miles at least every other day.
* Caveat: If you floor the car as soon as you drop it in drive, then yes, let it warm up all the way before you start the abuse.