<p>In this paper, we address the problem of estimating the velocity of a rigid object to which multiple optical flow sensors are rigidly attached. We demonstrate that contrary to intuition, even in a perfectly known environment and with more sensors than degrees of freedom, velocity estimation is generally not possible if the object’s pose is unknown. However, by imposing additional constraints on the possible velocities and movements, it becomes feasible to recover both the object’s pose and velocity. We specifically examine a sensor configuration that not only enables the recovery of the object’s pose and velocity but also allows for separating pose estimation from velocity estimation. We conclude by highlighting additional open questions related to velocity estimation from optical flow.</p>