You should be able to easily track the ground plane using mocha and a simple (scale, transform, rotate export).
1. Draw a shape around the ground and avoid the actor in the FG. Track.
2. Turn on the surface and gird to view the track.
3. Export to desired compositing application. (copy paste to AE)
You can find lots of free mocha tutorials here:
http://www.imagineersystems.com/videos?tagFilter=%25tutorial&sortBy=Newest
Without knowing more about your workflow, it is difficult to suggest a solution.
Good luck,
Ross
Ross Shain
Imagineer Systems
http://www.imagineersystems.com