A method includes obtaining data from an event camera for each of a plurality of time instances. The data includes events corresponding to changes detected by a corresponding plurality of pixels of the event camera at each time instance. Temporally regularized optical flow velocities are determined at each time instance. Each of the pixels has a respective one of the optical flow velocities at each time instance. An optical flow of a feature of an object in a field of view of the event camera is determined based on a predetermined relationship between the temporally regularized optical flow velocities at a selected time instance and the temporally regularized optical flow velocities at a subsequent time instance. The feature of the object corresponds to one of the plurality of events at the selected time instance and one of the plurality of events at the subsequent time instance.