Given two observers, we define the "relative velocity" of one observer with respect to the other in four different ways. All four definitions are given intrinsically, i.e. independently of any coordinate system. Two of them are given in the framework of spacelike simultaneity and, analogously, the other two are given in the framework of observed (lightlike) simultaneity. Properties and physical interpretations are discussed. Finally, we study relations between them in special relativity, and we give some examples in Schwarzschild and Robertson-Walker spacetimes.

29 pages, 12 figures. New proofs in special relativity and a new open problem in general relativity (see Remark 5.2). An Appendix has been added, studying the relative velocities in Schwarzschild, with new figures. Some spelling erros fixed