The standard Lucas-Kanade method as described in the wiki page entry on it here. One key thing not mentioned there (at least until I edit the page) is to use the Sobel operator to get partial derivatives in the x and y direction.
link to applet
Glancing at the OpenCV implementation I notice there is a check for certain kinds of matrices that aren't invertible by the primary method, I may need to be doing that for more robust operation.
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