Before revision: This work presents a novel  approach to simultaneously track a robot with respect to multiple rigid entities, including the environment and additional dynamic objects in a scene . Previous approaches treat dynamic parts of a scene as outliers and are thus limited to  small amount of dynamics , or rely on prior information for all objects in the scene to enable robust camera tracking.
After revision: This work presents a novel approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view . Previous approaches treat dynamic parts of a scene as outliers and are thus limited to small amount of dynamics , or rely on prior information for all objects in the scene to enable robust camera tracking.