Blender has a very powerful and versatile tracking module, allowing camera and object tracking, as well as plane tracking, which is useful to quickly place 2d elements into your footage.
This video gives you a short overview of the basic workflows.
For more detailed information, check out Track Match Blend, the tracking training DVD from the Blender Foundation: blender3d.org/e-shop/product_info_n.php?products_id=147
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