diff --git a/jsk_perception/CMakeLists.txt b/jsk_perception/CMakeLists.txt
index 8fb61c56ba..3827518ebf 100644
--- a/jsk_perception/CMakeLists.txt
+++ b/jsk_perception/CMakeLists.txt
@@ -45,6 +45,7 @@ rosbuild_add_executable(point_pose_extractor src/point_pose_extractor.cpp)
 rosbuild_add_executable(white_balance_converter src/white_balance_converter.cpp)
 rosbuild_add_executable(hough_lines src/hough_lines.cpp)
 rosbuild_add_executable(rectangle_detector src/rectangle_detector.cpp)
+rosbuild_add_executable(calc_flow src/calc_flow.cpp)
 
 target_link_libraries(camshiftdemo ${OpenCV_LIBRARIES})
 target_link_libraries(virtual_camera_mono ${OpenCV_LIBRARIES} rospack)
@@ -52,6 +53,7 @@ target_link_libraries(point_pose_extractor ${OpenCV_LIBRARIES} rospack)
 rosbuild_link_boost(point_pose_extractor filesystem system)
 target_link_libraries(hough_lines ${OpenCV_LIBRARIES})
 target_link_libraries(rectangle_detector ${OpenCV_LIBRARIES})
+target_link_libraries(calc_flow ${OpenCV_LIBRARIES})
 rosbuild_link_boost(rectangle_detector signals)
 
 macro(jsk_perception_nodelet _nodelet_cpp _nodelet_class _single_nodelet_exec_name)
diff --git a/jsk_perception/catkin.cmake b/jsk_perception/catkin.cmake
index 8af019559b..ffe00653ca 100644
--- a/jsk_perception/catkin.cmake
+++ b/jsk_perception/catkin.cmake
@@ -22,7 +22,7 @@ generate_messages(
 
 catkin_package(
   CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs message_runtime jsk_pcl_ros
-  DEPENDS
+  DEPENDS pcl OpenCV
   INCLUDE_DIRS
   LIBRARIES
 )
@@ -34,6 +34,7 @@ add_executable(point_pose_extractor src/point_pose_extractor.cpp)
 add_executable(white_balance_converter src/white_balance_converter.cpp)
 add_executable(hough_lines src/hough_lines.cpp)
 add_executable(rectangle_detector src/rectangle_detector.cpp)
+add_executable(calc_flow src/calc_flow.cpp)
 
 macro(jsk_perception_nodelet _nodelet_cpp _nodelet_class _single_nodelet_exec_name)
   list(APPEND jsk_perception_nodelet_sources ${_nodelet_cpp})
@@ -70,6 +71,7 @@ target_link_libraries(edge_detector            ${catkin_LIBRARIES} ${OpenCV_LIBR
 target_link_libraries(white_balance_converter  ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 target_link_libraries(hough_lines              ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 target_link_libraries(rectangle_detector       ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(calc_flow                ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 
 add_dependencies(camshiftdemo             ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_gencpp)
 add_dependencies(virtual_camera_mono      ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_gencpp)
@@ -84,7 +86,7 @@ add_dependencies(rectangle_detector       ${PROJECT_NAME}_gencfg ${PROJECT_NAME}
 #  COMMAND ${PROJECT_SOURCE_DIR}/src/eusmodel_template_gen.sh)
 #add_custom_target(eusmodel_template ALL DEPENDS ${PROJECT_SOURCE_DIR}/template)
 
-install(TARGETS camshiftdemo virtual_camera_mono point_pose_extractor white_balance_converter hough_lines rectangle_detector ${PROJECT_NAME}
+install(TARGETS camshiftdemo virtual_camera_mono point_pose_extractor white_balance_converter hough_lines rectangle_detector calc_flow ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/jsk_perception/package.xml b/jsk_perception/package.xml
index 837674fa3f..839807723a 100644
--- a/jsk_perception/package.xml
+++ b/jsk_perception/package.xml
@@ -26,6 +26,7 @@
   <build_depend>image_transport</build_depend>
   <build_depend>driver_base</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>pcl</build_depend>
   <build_depend>pcl_ros</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>roscpp</build_depend>
@@ -49,6 +50,7 @@
   <run_depend>image_transport</run_depend>
   <run_depend>driver_base</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>pcl</run_depend>
   <run_depend>pcl_ros</run_depend>
   <run_depend>eigen</run_depend>
   <run_depend>roscpp</run_depend>
diff --git a/jsk_perception/src/calc_flow.cpp b/jsk_perception/src/calc_flow.cpp
new file mode 100644
index 0000000000..7bfdf7aa21
--- /dev/null
+++ b/jsk_perception/src/calc_flow.cpp
@@ -0,0 +1,103 @@
+//
+// JSK calc_flow
+//
+#include <ros/ros.h>
+#include <ros/names.h>
+
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/fill_image.h>
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+#include <cv.h>
+#include <cv_bridge/cv_bridge.h>
+
+#include <stdlib.h>
+
+class calc_flow_node {
+private:
+  ros::NodeHandle nh_;
+  image_transport::ImageTransport it_;
+  image_transport::CameraSubscriber camera_sub;
+  ros::Publisher result_pub_;
+  std::string namespace_;
+  cv::Mat prevImg;
+  cv::Mat flow;
+  //cv::Mat *nextImg;
+public:
+  calc_flow_node () : nh_(), it_(nh_), flow(0, 0, CV_8UC1), prevImg(0, 0, CV_8UC1) {
+    //flow = new cv::Mat(0, 0, CV_8UC1);
+
+    namespace_ = nh_.resolveName("camera");
+    camera_sub = it_.subscribeCamera(namespace_ + "/image", 10, &calc_flow_node::cameraCB, this);
+    result_pub_ = nh_.advertise<sensor_msgs::Image> ("flow_image", 1);
+    //result_pub_ = nh_.advertise<sensor_msgs::PointCloud2> ("flow_vector", 1);
+  }
+
+  void cameraCB(const sensor_msgs::ImageConstPtr &img,
+                const sensor_msgs::CameraInfoConstPtr &info) {
+    //IplImage *ipl_ = new IplImage();
+    //ipl_ = cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
+    //sensor_msgs::CvBridge bridge;
+    cv_bridge::CvImagePtr cv_ptr;
+    //cvResize(bridge.imgMsgToCv(img, "mono8"), ipl_);
+    //IplImage *ipl_ = bridge.imgMsgToCv(img, "mono8");
+    //cv_ptr = cv_bridge::toCvCopy(img, "mono8");
+    cv_ptr = cv_bridge::toCvCopy(img, "mono8");
+    bool prevImg_update_required = false;
+    if((flow.cols != (int)img->width) ||
+       (flow.rows != (int)img->height)) {
+      ROS_INFO("make flow");
+      cv_ptr->image.copyTo(flow);
+      prevImg_update_required = true;
+    }
+    if(prevImg_update_required) {
+      cv_ptr->image.copyTo(prevImg);
+      prevImg_update_required = false;
+      ROS_INFO("return");
+      return;
+    }
+    //
+    //ROS_INFO("subscribe image");
+    //prevImg.
+    //cv::Mat *nextImg = new cv::Mat(ipl_);
+    cv::Mat nextImg(img->height, img->width, CV_8UC1);
+    //memcpy(nextImg->data, ipl_->imageData, img->height*img->width);
+    cv_ptr->image.copyTo(nextImg);
+    
+    cv::calcOpticalFlowFarneback(prevImg, nextImg, flow,
+                                 0.5, 3, 15, 3, 5, 1.2, 0 );
+                                 // 0.5, 2,
+                                 // 16, 4,
+                                 // 5, 1.1, 0);
+    //cv::OPTFLOW_USE_INITIAL_FLOW);
+    nextImg.copyTo(prevImg);
+
+    sensor_msgs::Image result;
+    result.header = img->header;
+    result.width  = flow.cols;
+    result.height = flow.rows;
+    result.encoding = "mono8";
+    result.step   = flow.cols;
+    result.data.resize(flow.cols * flow.rows);
+    CvPoint2D32f *ptr = (CvPoint2D32f *)flow.data;
+    for(int i = 0; i<result.data.size(); i++) {
+      // copy flow -> result
+      //result.data[i] = ;
+      int val = 10 * sqrt(ptr[i].x * ptr[i].x + ptr[i].y * ptr[i].y);
+      result.data[i] = 255>val?val:255;
+    }
+    result_pub_.publish(result);
+  }
+};
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "calc_flow");
+  //cv::namedWindow(std::string("window"), );
+  calc_flow_node flow_node;
+
+  ros::spin();
+  return 0;
+}