This paper gives an efficient approach to reconstruct moving multiple objects (multi-object). Each object has independently rigid motion which includes translation and rotation. The traditional FBP algorithm can resolve the one-object motion problem rather well. However, it suffers from perceptible motion artifacts in multi-object cases. This paper proposes a new motion-compensated reconstruction approach with a priori knowledge of the rigid motion model. Both an FBP-type and an ART-type algorithm were derived. In an effort to evaluate the proposed algorithms, we have performed numerical studies by using different rigid motion models. Quantitative results demonstrate that the proposed FBP-type and ART-type algorithms can reconstruct multi-object free of motion artifacts.