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Distance travelled by a robot using Optical Flow

Hi, is there a way to find out the distance travelled by a robot using Optical Flow? For example, using OpenCV, I'm able to find out the velocity of each pixel between 2 images taken by a camera. However, I don't know where to go with this to find out the corresponding distance travelled by the robot. Can you suggest a way to do this?

My main aim is to do the localization of the robot and for that I need the distance travelled by it between 2 instances.

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