Not sure if this will help you or not…
I seem to remember reading how in a recent movie, they wanted to do something similiar. First they had footage that they needed to add cg too, but it was all jerky.
So their approach was to import the footage into their camera tracking
software (Boujou I think), stabilized it, added their CG elements, then inverted the curves to reintroduce jerkiness to the entire scene. End result retaining the original handheld camera shake look, complete with matched CG elements.
Wish I could remember the movie… Sin City? I think it was in the latest issue of Cinefex if it helps anyone. ( the one with pirates of the carribean Part II)