This is typically done using a full 3D scene reconstruction in advanced tracking software like Syntheyes or complex compositing tools like Nuke. AE's 3D tracker can only track the camera and allow you to place some flat items in the scene, whiuch naturally may not align properly. the rest is up to the specific footage and without seeing it nobody can realyl tell you how to best approach this. if there is a chnace to get a consistent 3D scene as a continuous shot then it's easy - you simply place and animate your stuff inside the tracked scene. Otherwise more complex procedures may apply, including lots of manual animation.
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The most efficient technique depends entirely on the shot. If there is lens distortion and the shot moves far enough along the road that the new graphics approach the edges if the frame where distortion is greatest you must first remove the lens distortion. This is even true if you use advanced tracking tools like Syntheyes. If there is a part of the road that stays in the shot for the entire time then you may be able to simply Motion Stabilize the shot so that the road does not move in the frame and lay your graphic over the road, then add the original motion to the graphic and put the motion back in the shot with a couple of simple expressions and a null.
AE's camera tracker is plenty capable of tracking a shot from a drone if you remove the lens distortion first but this is very hard to do accurately unless you have access to the drone and can shoot a grid and run some calculations. I've done this with all of my drone cameras and with my GoPro cameras. I've even created lens profiles for my iPhone because accurate camera tracking and seamless compositing is only possible if you remove the lens distortion.
Show us the shot or include an accurate and detailed description of the footage to give us a better idea of what you are dealing with and what kind of graphic you are attaching. The project could be as simple as motion tracking the spots on the road where you want the markers.