Before revision:  Here, we propose to formulate localisation and object tracking as the same underlying problem and simultaneously track multiple rigid transformations, thereforeenabling simultaneous localisation and object tracking for mobile manipulators in dynamic scenes .
After revision:  Here, we propose to treat all dynamic parts as one rigid body and simultaneously segment and track both static and dynamic components. We, therefore, enable simultaneous localisation and object tracking for mobile manipulators in dynamic scenes .