1. A method for registering an ultrasound image acquired using an ultrasound probe to a fluoroscopic image acquired using a fluoroscopic image acquisition device, comprising: detecting a 2D location of the ultrasound probe in the fluoroscopic image; estimating a 3D pose of the ultrasound probe based on the detected 2D location of the ultrasound probe in the fluoroscopic image; and mapping the ultrasound image to a 3D coordinate system of the fluoroscopic image acquisition device based on the estimated 3D pose of the ultrasound probe.