optic flow numerical model

Hello everyone,

My research so far in using optic flow for aerial robot navigation has
been mainly experimental (see
http://www.pages.drexel.edu/~weg22/research.html if interested). 
However, I want to get more involved in the theoretical aspects of it
by creating an optic flow sensor numerical model.  When the same input
is fed into my model and a sensor (www.centeye.com for example), the
output should be the same.  I have never developed any numerical
models before and I was just wondering if anyone out there could offer
some advice or suggestions on where to begin?  Also, I would
appreciate any information that can be shared about models that are
already in existence (possibly 1D).

Thanks a lot!
-Bill

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