My research focuses on giving robot’s the ability to perceive the world the same way we do. The project’s apogee is a Bayesian estimation approach to utilising optical flow to estimate trajectory and position. The Bayesian approach provides a mathematical frame work for holistically fusing data from various sensors such as GPS, LIDAR, accelerometers, gyros, magnetometers and velocity sensors. To apply Bayesian methods, optical flow uncertainty must be characterised so that it’s information can be utilised.