Since the background is going to be right up against the objects in the back, you should be able to just use Mocha to track it into the shot based on one of the items in the very back of the shot. Or, heck, the wall itself. Mocha should be able to grab onto that just fine.
Depending on what kind of camera move you have, I would have expected the Camera Tracker to work though. Is the camera moving around a lot or is it pretty stationary and just kinda handheld wobbling?
Sometimes, if your footage is MP4 (or some other variant of H.264 or H.265 compression), AE’s camera tracker has issues with it. If I have problems, I usually transcode it to ProRes before I try much else.
If that doesn’t do it, you could also crunch the colors a bit to bring out more contrast in the tracking markers and try tracking that, but, again, I think you could just do Mocha and be done with it.
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