mocha Pro, mocha plus and mocha HitFilm all have a 3D camera solve module, but is more used for tracking a static object in a moving camera scene. That said, many mocha users do this kind of work by tracking the motion with 2D planar tracking and faking the 3D .
For accurately 3D tracking a moving object, you may want to look into dedicated tool like Syntheyess or PFTrack.
Either way, your issue is that Sony Vegas is not a 3D compositor. You will want to composite the graphic in true 3D space with a dedicated 3D compositing system like After Effects, HitFilm, Fusion, Nuke etc.
Ross Shain
Imagineer Systems
http://www.imagineersystems.com