Match Moving CG Robot 3D Animation Final

The concept for my first CG match moving project is a toy robot coming alive, but then the jet-pack starts to malfunction and Blazebot loses all control in mid-air.

The concept for my first CG match moving project is a toy robot coming alive, but then the jet-pack starts to malfunction and Blazebot loses all control in mid-air.
 
The video footage was recorded with my mobile phone and the camera tracking was done in Matchmover. The tracked camera data was then imported into Maya to animate the robot in 3D space. Maya's particle system was used to simulate the jet-pack smoke. Thereafter the tedious rendering of six different Maya render layers with Mental Ray. 
The render layers and their passes were then composited back together for final color grading, the tracker markers were rotoscoped from the table and then lens simulation were added for a realistic effect to the final video.

The video was then imported into Cakewalk Sonar where I used my Korg Triton synthesizer for the creation of the cheezy electro soundtrack and the robotic sound effects. The ability to trigger the servo sound samples with the synth's keys made the sound syncing a breeze.
Lessons learned: Stay away from final gather in animations, it causes too much flickering.
What I would like to improve on: Particle simulation, it can look much better than what I've achieved here.
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