Abstract: A camera is connected to a trained neural network. The camera takes an image of a scene and transmits the image to the neural network. A processor connected to the neural network has a localization filter and a robot model implemented therein. A global positioning system (GPS) receiver and inertial measurement unit (IMU) transmit GPS information and IMU information, respectively, to the processor. The localization filter filters the received GPS and IMU information and inputs the filtered information into the robot model. The robot model outputs current position information corresponding to the current image and previous position information corresponding to the respective one or more previous images. The neural network uses the current image and associated current position information and the one or more previous images and respective associated previous position information to generate an estimated optical flow image, which is transmitted to an object detection system.