Hi, I can offer some tricks.
First you need masked all moving object in your scene and identify this matte in camera tracker (You can do this camera tracker mask section and chect it by activate Tracking tab preview feature) You should see in refine tab...you can refine decrease your max and track error slider after you should recalculate your solve. And if there is a lens distortion on your scene you can undistort it before tracking, it might be help sometimes. After track you can hover your mouse on points if its a good point its must be green and lots of stable frame (youll see numbers on it higest number is good) generally green is good red is rejected. Best :D
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