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That looks like 3D Camera Tracking to me.
With your video selected, open the 3D camera tracker in After Effects. If AE can, it will produce tracking data, which you can then convert to a Camera, Ground Plane and Null.
Once you have your 3D composition, you'll be able to add text in 3D space and it will appear as part of the scene.
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I think some of the shots used Camera Tracking. Others used Mocha AE to track Transform, Rotation, Scale, and Shear. I have a tutorial series on both workflows coming very soon.
Here's a recent example of the Mocha AE tracking workflow used to fix a flickering LED sign on a moving train. Re: How to remove flickering caused by LED screen. Using that workflow, the flickering sign in the sample video could have easily been replaced with artwork or a text layer.
You could do the same with these shots.
It would take less time and render faster than Camera Tracking because no 3D layers would be required.
The most efficient workflow depends entirely on the shot.
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Here's a YouTube video that could help: https://www.youtube.com/watch?v=kpygs4J_Co8&ab_channel=KYLERHOLLAND
Thanks,
Nishu
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