1. A method for detecting and modeling a catheter in a fluoroscopic image, comprising: detecting catheter tip candidates in the fluoroscopic image; detecting catheter body candidates in the fluoroscopic image; and fitting one of a plurality of trained shape models to the catheter tip candidates and the catheter body candidates by calculating a probability of each of the plurality of trained shape models, the probability representing the likelihood of the respective trained shape model matching the catheter tip candidates and the catheter body candidates.