Tracking 3d weapon to Live Action Shot

Hey Friends,

As a personal project, I would like to film myself with an Eskrima stick with bright tape at the ends (to help track it), and replace the stand in weapon with a 3d sword.

Does anyone know of, or seen a tutorial, about tracking an object and replacing it with another 3d object? One which you could do complex movements like a sword?

I would like to replace the prop, with a 3d sword or weapon from Skyrim.

I know there will be some rotoscoping I will need to do with the hands, and if the weapon passes behind me.

Is this type of thing possible, without the resources of ILM?

I know there are many tutorials on how to do this in After Effects with a Light Saber, but in this case I would like it to be on a real 3d object, which is done completely different.

Well I don't know how possible this will be to do, but thought it would be a good start to ask you knowledgeable folks.

Thanks