In this paper, we propose a checkerboard-type filtering algorithm for a low-power gradient-based optical flow estimation (OFE) system. A gradient-based optical flow algorithm estimates optical flow field using gradient values of images. The conventional filtering stages in OFE that are used to calculate gradient values are composed of a 3D prefiltering/smoothing stage and three ID parallel derivative filtering stages. To reduce power consumption using pixel-wise parallel processing in analog spatial transform imager, we suggest a checkerboard-type filtering based on convolution theorem and common data sharing. We describe the equivalence of our filtering scheme with the conventional smoothing and derivative filtering schemes and present some comparison in terms of the number of operations and power savings. We show that our approach is promising for low-power implementation of gradient-based OFE system under proper data scanning direction.Index Terms-Optical flow estimation, pre-filtering, low-power system, parallel processing 1. INTRODUCTION In the computer vision and image processing field, an optical flow field is essential for processing a sequence of images. The applications of the estimated optical flow range from video compression to three-dimensional (3D) surface structure estimation and active exploration. Generally, optical flow estimation methods can be classified into gradient-based and correlation-based methods. The latter use the block-wise similarity of intensity values between current and previous frames, and the former solves the linear equations of spatiotemporal derivatives [1].Even though the gradient-based method is superior to the correlation-based method in terms of accuracy, the latter is widely used to implement real-time motion sensors due to lower computational load and power consumption. To overcome these limitations, we apply a co-operative analog-digital signal processing (CADSP) approach for the motion sensor using the gradient-based optical flow estimation (OFE) method. The general goal of a CADSP approach is to assign regular and expensive computations, which are less sensitive