I create this scene about 1 oe 2 years ago for learn about voodoo and camera traking and how integrate the data of the camera and the objects into the scene.
The camera traking can be improved and the lighting etc. .. but for a first contact I think I got an acceptable result .. (without the problem with a fence at the end of the video :) )
I abandon this project due to time and later to know the existence of the development of the tomato branch so I decided to wait for the camera traking was available in the official version of blender.
Currently traking camera is already built into blender ... but I'd rather wait to do this kind of scenes when the development of render layers in cycles render is a little more developed.