![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHTm286tn0mYcUUOXBw2t5KsSkqLtUowx8MkDDJxPyvilA66zFfOeT-6u6fvOjVYEyyrBdvN9pspyq1WQBO42VuUu8hO000W9RATirbT6uctvNoBvq0itXvMau43_qhKlR6K4m/s400/opticalflow.png)
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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