Joe, 

  I am interested in this too, I sort of stopped looking for a way to get the Camera information into carrara from Voodoo  and was looking at Blender which Voodoo supports  I just have to learn blender .  
    
I don't know much about this yet , but I would follow these steps.

1. Load the Voodoo tracking information into Carrara.
2. Load the Image sequence in the back drop and make sure the "Show Backdrop" is on in the interactive render settings.
3. Run the animation to see if the Camera in carrara works properly.
4. Insert a vertex object on objects where you know your Carrara generated objects are going to cast shadows.
5. Make these vertex objects Shadow Catchers  by going to the Texture room and Selecting "shadow catcher" from the lighting models.
6. If you do an area render nothing shows up of our shadow casting object , but if a shadow is cast from a 3d object onto the shadow catcher  the shadow  will show up . Change the Light object properties to have the Shadow intensity to 50% so the backdrop image shows through.

For aligning the 3d objects , I think it is just placing the objects and tweaking . I did this for a still image and it worked fairly well.  I added the flying blocks in carrara against a still photo, here is the link to the video. It is in DivX format.
http://mmoir.cabspace.com/Free%20models/KitchClip2a.avi

 I will have to check out the links you gave and get back to you. Thanks for posting this  info.

Mike