Tracking motion while moving?

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Are there any pre-existing packages or methods for detecting and tracking moving targets from a mobile platform while that platform is moving?

I have a small mobile robot, which has a camera and lidar, and I'm trying to handle the case where it's navigating a path while some other object (robot/person/pet) is on an intersecting path. A simple lidar point cloud will only register a stationary object, and most image motion detection algorithms I've found assume a stationary camera.