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 formulate localisation and object tracking as the same underlying problem and simultaneously track multiple rigid transformations, thereforeenabling simultaneous localisation and reconstruction of both the static background and rigid dynamic components in environments where dynamic objects cause large occlusion .