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We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic segmentation techniques and optical flow cues. We apply Structure from Motion techniques to object and background images to determine for each frame camera poses relative to object instances and background structures. By combining object and background cameraarXiv:1711.06136v1 fatcat:fhldbk2jk5eu3gvqiuoqvhebx4