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Without a known size object or calibration target within the videos, you'll have to use a Structure From Motion (SfM) algorithm. They take unknown cameras and an unknown scene and solve for the 3d locations of both.
Part of the output would be the locations of each of the cameras (the camera extrinsics), the camera matrix and distortion (the camera intrinsics), and the locations of your calibration points within the space. From there, you can do your tracking as normal.
You probably want to merge the results and kalman filter the resulting 3d track. An alternative is to use a kalman filter to do the actual merging, which gives you an already filtered 3d result. Those are much more complicated, especially if you have an algorithm to do the 3d triangulation already.
On that note, THIS is the mapping3d contrib module I'm working on, which contains an algorithm for getting the 3d location, or 3d location and velocity of a point from multiple cameras. That much works, and I'm also looking for feedback and additional algorithms to include. So if you find something that fits and would help you, I might be able to add it.
