In this paper, we aim to develop an algorithm for the navigation of an autonomousrobot using optical flow observed through a vision system mounted on a mobile robot. Optical flow is used for generating a temporal-model of the robot motion. The temporalmodel enables us to detect a planar area on which robot moves by matching with optical flow, and estimate a ego-motion of the mobile robot. If we obtain the planar area and a ego-motion, we can navigate the mobile robot autonomously. We show experiments for the detection of the planar area and estimation of the ego-motion of the robot using the image sequence observed through the mobile robot.