Reconstruction of a full dynamic scene using a monocular moving camera requires reconstruction of both static and dynamic objects. We present a generic approach for simultaneous estimation of shape, location and velocity for static and moving objects using graph optimization. The main challenge is the unknown scale of each moving object; this is handled with a good initial depth estimation. For validation we created a dynamic simulation of an urban environment. On this simulation our method yields 13% velocity error when the camera is mounted on a car, and 2.8% velocity error when it is mounted on a drone.