My setup is as follows:
I break the assets in the scene down into three basic categories - "foreground" (the figure(s) that will be animated), "background" (the part that doesn't change across the animation) and "camera and lighting".
Get the scene set up the way you want. Lighting, the poses, etc.
Take all the items that will be in the background, and put them into a group. (Ctrl-Click on them to select them all, Create > Group, select to parent the objects to the group.) Now do the same with the foreground figures into a separate group.
Now, you can save your scene two ways:
- The background. "Turn off" the group that has the figures, save the scene with a name that tells you it's the background. So, this scene has the background, the camera and the lights.
- The part to be animated. "Turn on" the figures again, "turn off" the background. In the "Render Settings," change the type to "Image Series", and under environment, turn off "Draw Dome". Save the scene with a name that tells you it's the foreground. This scene has the foreground, the camera and the lights.
Note - things can get a bit tricky if removing the background changes the lighting on your figures dramatically. You may have to take this into account when you design your lighting, and check it by enabling and disabling the background.
Render the foreground as a series of PNG's. (Important that you use PNG, not JPG, because JPG doesn't allow transparency.) If you have the background and "Draw Dome" turned off, you'll end up with PNG's that are transparent wherever the background should show.
Render the background either as a PNG or a JPG - doesn't matter.
Composite each of the foreground PNG's onto the background, to produce a series of images that have both your figure animations and the background. There are a number of different ways to do this - PhotoShop, GIMP or ImageMagick are all among them, but I'm sure there are others.
Join the image series into a video.