to
to
to
to
to
to
to
to
to
to
to
to

Houses and Sections for Sale in Manukau City

680 Listings , Showing 1  to 50
NEW LISTING
Maraetai, Smooth Operator, Property ID: 594231 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

117 Maraetai School Road, Maraetai

Smooth Operator

For Sale By Auction
Property ID: 594231

This gorgeous single level rendered brick home will grab your attention the moment you pull up outside. Quality seekers of designer living will be impressed with this home whether it's classical ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Hot Project, 11308m2 Almost Flat Super Lot, Property ID: 594187 | Barfoot & Thompson

91 Valderama Drive, Flat Bush

Hot Project, 11308m2 Almost Flat Super Lot

For Sale By Negotiation
Property ID: 594187

Consented for 47 Homes. As part of 411 Ormiston Rd subdivision, this property is situated off the main arterial routes and is handy to Ormiston College as well as the many amenities the area ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, It's Got What You Want…, Property ID: 593983 | Barfoot & Thompson
3bedrooms
1 bathrooms
2 Parking

2/12 Percival Street, Manurewa

It's Got What You Want…

For Sale By Negotiation
Property ID: 593983

Look no further as this desirable home has had all the work done and will be the envy of your friends. Instantly appealing, this immaculate 3 double bedroom townhouse has versatility plus. It has ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, CONVENIENCE, COMFORT AND CHARM, Property ID: 591421 | Barfoot & Thompson
5bedrooms
3 bathrooms
2 Parking

13 Coolaghy Drive, Flat Bush

CONVENIENCE, COMFORT AND CHARM

For Sale By Auction
Property ID: 591421

SHE'S AN ALL ROUND WINNER IN A PRIME POSITION - A MERE SKIP AND A DANCE TO THE BEST SCHOOLS! Exceptionally neat, pretty and low-maintenance 5-bedroom home in a top investment area, offering ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, A LIVING MASTERPIECE!, Property ID: 594057 | Barfoot & Thompson
5bedrooms
4 bathrooms
2 Parking

97 Argento Avenue, Flat Bush

A LIVING MASTERPIECE!

For Sale By Negotiation
Property ID: 594057

EXCEPTIONAL DESIGN AND LIVING EXCELLENCE IN THE QUIETEST POSITION OPPOSITE BUSH RESERVE AND ZONED FOR MISSION HEIGHTS AND ORMISTON SCHOOLS! An object of desire! With its easy entertainment flow, ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, BEST 7-BED RESERVE POSITION!, Property ID: 594044 | Barfoot & Thompson
7bedrooms
4 bathrooms
2 Parking

99 Argento Avenue, Flat Bush

BEST 7-BED RESERVE POSITION!

For Sale By Negotiation
Property ID: 594044

INSPIRED LUXURY AND SPACIOUSNESS IN THE QUIETEST POSITION OPPOSITE BUSH RESERVE AND ZONED FOR MISSION HEIGHTS AND ORMISTON SCHOOLS! Have you ever dreamed of a beautiful brand new quality home in ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Near-New is Better Than NEW !, Property ID: 593936 | Barfoot & Thompson
6bedrooms
3 bathrooms
2 Parking

3 Hughs Way, Flat Bush

Near-New is Better Than NEW !

For Sale By Auction
Property ID: 593936

Why? Not only you'll love living here but also because all fittings and fixtures have already been done for you - quality vertical and roller blinds for the entire house have been installed, ...

More details Barfoot & Thompson
NEW LISTING
Whitford, Country Living Within City Limits, Property ID: 593686 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

213 Point View Drive, Whitford

Country Living Within City Limits

For Sale By Tender
Property ID: 593686

It's hard to imagine an 8 acre farmlet on the fringe of urban living without heading out to the more rural areas. Yet secreted away on the prestigious Point View Drive is the most idyllic ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Superb Family Home in Top Location, Property ID: 594021 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

34 Amaretto Avenue, Flat Bush

Superb Family Home in Top Location

For Sale By Auction
Property ID: 594021

Be prepared to fall in love with this beautifully presented quality Brick & Weatherboard family home. With a warm and inviting street appeal, spacious & comfortable living areas to entertain your ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, AFFORDABLE ON FULL SITE, Property ID: 594090 | Barfoot & Thompson
3bedrooms
1 bathrooms

15 Maida Vale, Manurewa

AFFORDABLE ON FULL SITE

$599,000
Property ID: 594090

Affordable 3 bedroom home on a fully fenced section and on road frontage. This property is close to all amenities and vendor is keen to sell. Its vacant and ready to be occupied. Vendor is keen ...

More details Barfoot & Thompson
NEW LISTING
Highland Park, Lovely Home in Heart of Highland Park, Property ID: 594038 | Barfoot & Thompson
3bedrooms
1 bathrooms
1 Parking

1/44 Aviemore Drive, Highland Park

Lovely Home in Heart of Highland Park

For Sale By Auction
Property ID: 594038

Set in a popular location handy to nearby amenities, swimming pool, and local park/playground and walking distance to the Highland Park Shopping District and nearby schools, this lovely property ...

More details Barfoot & Thompson
NEW LISTING
Botany Downs, Great location and perfect for extended family living, Property ID: 594204 | Barfoot & Thompson
5bedrooms
3 bathrooms
2 Parking

14 McCahill Views, Botany Downs

Great location and perfect for extended family living

$1,280,000
Property ID: 594204

Located on the famous MacCahill Views, surrounded by beautiful native bush and reserve, this property has been refurbished recently with new kitchen, bathrooms, paint and new carpet. - Be the ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Stunning Sunsets on Silvana, Property ID: 593531 | Barfoot & Thompson
5bedrooms
3 bathrooms
2 Parking

7 Silvana Drive, Flat Bush

Stunning Sunsets on Silvana

For Sale By Auction
Property ID: 593531

An elegant home in the prestigious Mission Heights, this stunning property of quality brick and weatherboard construction will certainly hold your attention. Nestled back from the road, sitting ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, Solid Family Home Near Schools & Supermarket, Property ID: 594184 | Barfoot & Thompson
4bedrooms
1 bathrooms
1 Parking

10 Oxford Road, Manurewa

Solid Family Home Near Schools & Supermarket

For Sale By Auction
Property ID: 594184

A solid freehold stand alone house here perfect for the family living. Spacious well planted mature family garden at the front part of the house offers nice street appealing and privacy. ...

More details Barfoot & Thompson
NEW LISTING
Alfriston, Brick and Tile /  Fletcher Construction, Property ID: 594103 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

14 Villino Place, Alfriston

Brick and Tile / Fletcher Construction

For Sale By Auction
Property ID: 594103

Yes you read it right..... It is brick and tile and it is a Fletcher construction!!! Sprawling over a 522 sqm flat site, this single level beauty is sure to impress. Located in a quiet and child ...

More details Barfoot & Thompson
NEW LISTING
Whitford, Large Section in Whitford, Property ID: 594188 | Barfoot & Thompson

18 Puketiro Road, Whitford

Large Section in Whitford

For Sale By Negotiation
Property ID: 594188

This large section has an architectural drawing for a 724m² house. Your dream house can be built where you can enjoy peace and privacy of country life. Close to Formosa Golf Course and the local ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Quality Built Home in Super Location, Property ID: 593645 | Barfoot & Thompson
3bedrooms
2 bathrooms
2 Parking

108 Flat Bush School Road, Flat Bush

Quality Built Home in Super Location

For Sale By Auction
Property ID: 593645

You are looking top class area to live in? easy and low maintance modern home? Then this is for you! This three double bedrooms home, around three years old, superbly presented with contemporary ...

More details Barfoot & Thompson
NEW LISTING
Pakuranga Heights, Great Location! Family Living At Its Best!, Property ID: 593625 | Barfoot & Thompson
4bedrooms
1 bathrooms
1 Parking

99 Reeves Road, Pakuranga Heights

Great Location! Family Living At Its Best!

For Sale By Auction
Property ID: 593625

Situated in the heart or Pakuranga is this fully fenced solid house (first time on the market in 32 years) freshly redecorated ready for your family to move in and enjoy. The kiwi dream with a ...

More details Barfoot & Thompson
NEW LISTING
The Gardens, GOLDEN OPPORTUNITY FOR ULTIMATE LANDBANKING, Property ID: 594167 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

283 Hill Road, The Gardens

GOLDEN OPPORTUNITY FOR ULTIMATE LANDBANKING

For Sale By Auction
Property ID: 594167

Proudly sitting on elevated 7,287m2 land with uninterrupted 180 degree views out to Ardmore, this country homestead presents 4 bedrooms, study, high-stud large family room next to spacious ...

More details Barfoot & Thompson
NEW LISTING
Mangere, APPROVED RESOURSE CONSENT FOR THREE, Property ID: 594209 | Barfoot & Thompson
4bedrooms
1 bathrooms
1 Parking

567 Massey Road, Mangere

APPROVED RESOURSE CONSENT FOR THREE

For Sale By Negotiation
Property ID: 594209

This property comes under the mixed housing urban zone under the unitary plan and the resource consent for three fee simple dwellings is already approved. Offering you a fantastic opportunity on ...

More details Barfoot & Thompson
NEW LISTING
Randwick Park, Brick and Tile Home, Property ID: 594182 | Barfoot & Thompson
3bedrooms
1 bathrooms
1 Parking

3D Eulogy Place, Randwick Park

Brick and Tile Home

For Sale By Negotiation
Property ID: 594182

Solid Brick & Tile Fully renovated 3 bedroom home with brand new chattels with ample section you can create your own garden and also keeping kids or pets in safe fully fenced yard. You have lots ...

More details Barfoot & Thompson
NEW LISTING
Clendon Park, CHEAP AS CHIPS, DO UP!, Property ID: 594201 | Barfoot & Thompson
3bedrooms
1 bathrooms

6B Maplesden Drive, Clendon Park

CHEAP AS CHIPS, DO UP!

For Sale By Negotiation
Property ID: 594201

Be brave to view this 3 good-sized bedrooms, being a long time tenanted property, oozing with potential to do up and add value. Situated down a R.O.W. On a fully fenced site, deck off the lounge, ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, AFFORDABLE BRAND NEW HOUSES, Property ID: 594160 | Barfoot & Thompson
5bedrooms
3 bathrooms
2 Parking

Lot3/4 Clark Street, Manurewa

AFFORDABLE BRAND NEW HOUSES

For Sale By Negotiation
Property ID: 594160

Two properties to choose from.. These brick and tile weatherboard 2 level homes featuring 5 bedrooms, ensuites, separate toilets and showers. Stunning designer kitchen, open plan dining & ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, AFFORDABLE BRAND NEW HOUSES, Property ID: 594154 | Barfoot & Thompson
5bedrooms
3 bathrooms
2 Parking

Lot2/4 Clark Street, Manurewa

AFFORDABLE BRAND NEW HOUSES

For Sale By Negotiation
Property ID: 594154

Two properties to choose from.. These brick and tile weatherboard 2 level homes featuring 5 bedrooms, ensuites, separate toilets and showers. Stunning designer kitchen, open plan dining & ...

More details Barfoot & Thompson
NEW LISTING
Clendon Park, BRICK & TILE BEAUTY: Don't miss this one!, Property ID: 593805 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

26 Robert Ross Place, Clendon Park

BRICK & TILE BEAUTY: Don't miss this one!

For Sale By Auction
Property ID: 593805

This spacious 4 bedroom brick and tile beauty with an open plan kitchen, dining and living will be just perfect for your family. The master bedroom boasts a walk in wardrobe and a private ...

More details Barfoot & Thompson
NEW LISTING
Howick, Location, Location, Location, Property ID: 594179 | Barfoot & Thompson
2bedrooms
1 bathrooms
1 Parking

3/15 Walter MacDonald Street, Howick

Location, Location, Location

For Sale By Negotiation
Property ID: 594179

This solid brick home is in a great location and an affordable entry to Macleans College. Almost new timber floorboards, carpet, and a fresh paint job have freshened up this 2 bedroom, 1 ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Executive Family Home – Built By Fletcher, Property ID: 593675 | Barfoot & Thompson
5bedrooms
3 bathrooms
3 Parking

4 Melness Place, Flat Bush

Executive Family Home – Built By Fletcher

For Sale By Auction
Property ID: 593675

BEAUTIFULLY PRESENTED 5 BEDROOM NEAR NEW FAMILY HOME - OVERSEAS VENDOR MUST SELL - BE QUICK MAKE IT YOURS If you are looking for that WOW factor and plenty of space for a large or extended ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Quality! Location! A home with heart, Property ID: 593569 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

3 Topland Drive, Flat Bush

Quality! Location! A home with heart

For Sale By Auction
Property ID: 593569

Gorgeous brick and tile 4 bedrooms home was built by Master Builder, and is well sized and in a very convenient location. The bright and sunny open plan kitchen, dining and living area offers ...

More details Barfoot & Thompson
NEW LISTING
Cockle Bay, COCKLE BAY RETREAT, Property ID: 593548 | Barfoot & Thompson
6bedrooms
3 bathrooms

188 Sandspit Road, Cockle Bay

COCKLE BAY RETREAT

For Sale By Auction
Property ID: 593548

Nestled down a highly sought after Sandspit Road in Cockle Bay is this six bedroom family home offering something for the whole family. With elevated views over the ocean, you will fall in love ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, PREMIER PROPERTY IN THE STREET, Property ID: 593802 | Barfoot & Thompson
6bedrooms
4 bathrooms
2 Parking

19 Drumbuoy Drive, Flat Bush

PREMIER PROPERTY IN THE STREET

For Sale By Negotiation
Property ID: 593802

PREMIER PROPERTY IN THE STREET You will find quality finishes throughout the house and special features such as double glazing, heat pump and Bosch gas appliances to name a few. Elegant full ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, Affordable first home!, Property ID: 593925 | Barfoot & Thompson
3bedrooms
1 bathrooms
1 Parking

79 Mahia Road, Manurewa

Affordable first home!

$655,000
Property ID: 593925

This beautiful house which sits on a 635m2 section looks fantastic as it has just been redecorated; brand new carpet, vinyl and paint throughout. There are 3 double bedrooms. The garage is easily ...

More details Barfoot & Thompson
NEW LISTING
Botany, SWEET HOME IN HANDY LOCATION, Property ID: 593961 | Barfoot & Thompson
3bedrooms
2 bathrooms
1 Parking

2/329 Botany Road, Botany

SWEET HOME IN HANDY LOCATION

For Sale By Auction
Property ID: 593961

This sweet and quietly peaceful home offers 3 double bedrooms, one common bathroom with separate toilet, one ensuite, plus an internal single garage. Single level brick and tile home which is ...

More details Barfoot & Thompson
NEW LISTING
Dannemora, Location, Freehold, Affordable, Property ID: 594000 | Barfoot & Thompson
3bedrooms
1 bathrooms
1 Parking

42 Haven Drive, Dannemora

Location, Freehold, Affordable

For Sale By Auction
Property ID: 594000

Dreaming of city living close to shops, café's and bars, with access to the gym, pool and tennis court, all at an affordable price. Stop Dreaming, you can have all this and more when you buy ...

More details Barfoot & Thompson
NEW LISTING
Beachlands, PIER 23, Property ID: 593611 | Barfoot & Thompson
3bedrooms
2 bathrooms
2 Parking

23 Tui Brae, Beachlands

PIER 23

For Sale By Tender
Property ID: 593611

When it comes to pure marina side living, it doesn't get much better than this absolutely prime location. For the very first time since it was built, it's your once in a life time opportunity to ...

More details Barfoot & Thompson
NEW LISTING
Bucklands Beach, Location, Potential and Privacy, Property ID: 593621 | Barfoot & Thompson
4bedrooms
1 bathrooms
3 Parking

34 Gills Road, Bucklands Beach

Location, Potential and Privacy

For Sale By Auction
Property ID: 593621

Perfectly positioned at upper Gills Road, Bucklands Beach, sitting on 708 square meters of premium freehold land, this lovely brick and weatherboard family home features 4 bedrooms, 1 family ...

More details Barfoot & Thompson
NEW LISTING
Mission Heights, VENDORS MOVING SOUTH AND WANT IT SOLD!, Property ID: 593640 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

5 Bellagio Way, Mission Heights

VENDORS MOVING SOUTH AND WANT IT SOLD!

For Sale By Negotiation
Property ID: 593640

Modern low maintenance home on fully fenced sunny site. This 232m² Dempsey Morton home is approximately 4 years old and in immaculate condition. Ideally suited to families, professionals and ...

More details Barfoot & Thompson
NEW LISTING
Beachlands, SUNNY SIDE UP!, Property ID: 593568 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

39 Sunkist Bay Road, Beachlands

SUNNY SIDE UP!

For Sale By Auction
Property ID: 593568

Beautifully presented and full of character, this absolutely gorgeous cedar weatherboard bungalow will steal your heart from the moment you step inside. With the walkway to Sunkist Bay Beach and ...

More details Barfoot & Thompson
NEW LISTING
Papatoetoe, Four bedroom - First home opportunity!, Property ID: 593492 | Barfoot & Thompson
4bedrooms
1 bathrooms
2 Parking

1/19 Fitzroy Street, Papatoetoe

Four bedroom - First home opportunity!

For Sale By Auction
Property ID: 593492

First time on the market since built, this much loved home now needs a new family. Light and sunny with four double bedrooms, large kitchen, north facing lounge & separate dining room, there is ...

More details Barfoot & Thompson
NEW LISTING
Mangere, 1429m2 Development Site on Terrace Housing Zoning, Property ID: 593943 | Barfoot & Thompson
2bedrooms
1 bathrooms

2 View Road, Mangere

1429m2 Development Site on Terrace Housing Zoning

For Sale By Auction
Property ID: 593943

Calling all Developers - This Gold Mine has endless opportunity - Sitting on a large1429m2 site / Zoned for Terrace Housing - Long-term tenants keen to stay. - Central Location - minutes to ...

More details Barfoot & Thompson
NEW LISTING
Mellons Bay, Escape from the hustle and bustle, Property ID: 592777 | Barfoot & Thompson
3bedrooms
1 bathrooms
1 Parking

33a Pickwick Parade, Mellons Bay

Escape from the hustle and bustle

For Sale By Auction
Property ID: 592777

Tucked well back from the road, the property offers good privacy in a quiet surrounding to escape from the hustle and bustle. A superb location offering easy living options to retirees, ...

More details Barfoot & Thompson
NEW LISTING
Beachlands, Beachlands - Pine Harbour Marina, Property ID: 593985 | Barfoot & Thompson

Lot79/110 Jack Lachlan Drive, Beachlands

Beachlands - Pine Harbour Marina

For Sale By Negotiation
Property ID: 593985

Make your move to the Pohutukawa Coast. This is a lovely flat site comprising 945m². Great location - Only a stone's throw from International Formosa Golf Course and an easy stroll to Pine ...

More details Barfoot & Thompson
NEW LISTING
Manurewa, Cosmetic Do Up!, Property ID: 594065 | Barfoot & Thompson
3bedrooms
1 bathrooms
2 Parking

30 Arnwood Street, Manurewa

Cosmetic Do Up!

$619,000
Property ID: 594065

There is a BIG 36m2 lock up garage, (this is half the size of a 2 bedroom unit). The home is 3 bedrooms on a fully fenced free hold 600m2 section. It has original wooden floors though out that ...

More details Barfoot & Thompson
NEW LISTING
Clendon Park, NEAT AS A PIN!, Property ID: 593135 | Barfoot & Thompson
2bedrooms
1 bathrooms
1 Parking

1/3 Dorendia Place, Clendon Park

NEAT AS A PIN!

For Sale By Negotiation
Property ID: 593135

This two-bedroom home is a must-view property. The space will surprise you, with a large, open plan living and dining. It is one unit in a block of two, with its own driveway access and ...

More details Barfoot & Thompson
NEW LISTING
Papatoetoe, Single Level Brick Beauty !, Property ID: 593975 | Barfoot & Thompson
4bedrooms
2 bathrooms
2 Parking

18B Milan Road, Papatoetoe

Single Level Brick Beauty !

For Sale By Auction
Property ID: 593975

This beautifully presented home will tick all your boxes. The Location! The condition of the house! Own driveway! Fee simple title with 574m² land area! Are all key features. "Family Friendly" ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Section in Flat Bush Urgent for Sale - Build Your Dream Home, Property ID: 593845 | Barfoot & Thompson

Lot66/39 Flat Bush School Road, Flat Bush

Section in Flat Bush Urgent for Sale - Build Your Dream Home

$715,000
Property ID: 593845

This prime 400m² section is located in the heart of Flat Bush, one of the fastest growing areas in Auckland. Close to FLAT BUSH TOWN CENTRE and Botany Town Centre, all facilities like schools, ...

More details Barfoot & Thompson
NEW LISTING
Papatoetoe, 61c Tui Rd, Papatoetoe, Property ID: 593882 | Barfoot & Thompson
2bedrooms
1 bathrooms

61c Tui Road, Papatoetoe

61c Tui Rd, Papatoetoe

For Sale By Negotiation
Property ID: 593882

Cosy 2 bedroom, 1 bathroom home (house on its own) located on Tui Road for sale! This is an ideal property for anyone wanting to step onto the property ladder or looking to invest. Nice and tidy ...

More details Barfoot & Thompson
NEW LISTING
Papatoetoe, It cant get better than this!, Property ID: 593866 | Barfoot & Thompson
3bedrooms
1 bathrooms
2 Parking

75a Fitzroy Street, Papatoetoe

It cant get better than this!

For Sale By Negotiation
Property ID: 593866

This home has been very much adored and kept up with the greater part of its current elements. It has style and warmth, which is the thing that reflects in these modern times. As you stroll ...

More details Barfoot & Thompson
NEW LISTING
Flat Bush, Affordable Brand New House in Ormiston Zone, Property ID: 593847 | Barfoot & Thompson
4bedrooms
3 bathrooms
1 Parking

13 Adamson Road, Flat Bush

Affordable Brand New House in Ormiston Zone

$998,000
Property ID: 593847

Simply stunning value! This impressive brand new family home beautifully presented with top quality chattels throughout. Built of brick and weatherboard, it has 4 bedrooms, 3.5 bathrooms WC (2 ...

More details Barfoot & Thompson
NEW LISTING
Mangere, A First Home Buyer Delight, Property ID: 593486 | Barfoot & Thompson
3bedrooms
1 bathrooms

9 Malcolm Place, Mangere

A First Home Buyer Delight

For Sale By Auction
Property ID: 593486

We are proud to present this prime piece of real estate that will suit first home buyers and investors. Yes, location does matter and this family friendly home is centrally located within ...

More details Barfoot & Thompson
NEW LISTING
Mangere, Space and seclusion; a fine design for family living, Property ID: 593491 | Barfoot & Thompson
4bedrooms
3 bathrooms
2 Parking

9a Malcolm Place, Mangere

Space and seclusion; a fine design for family living

For Sale By Auction
Property ID: 593491

This new residence, filled with light and superbly appointed, is designed for low maintenance living and entertaining. A carefully zoned floor plan incorporates 4 double bedrooms with ...

More details Barfoot & Thompson