A technique for estimating the optical flow between images of a scene and a segmentation of the images is presented. This involves first establishing an initial segmentation of the images and an initial optical flow estimate for each segment of each images and its neighboring image or images. A refined optical flow estimate is computed for each segment of each image from the initial segmentation of that image and the initial optical flow of the segments of that image. Next, the segmentation of each image is refined from the last-computed optical flow estimates for each segment of the image. This process can continue in an iterative manner by further refining the optical flow estimates for the images using their respective last-computed segmentation, followed by further refining the segmentation of each image using their respective last-computed optical flow estimates, until a prescribed number of iterations have been completed.