1. An X-ray imaging apparatus comprising: an overlapping unit configured to overlap a 2-Dimensional (2D) blood vessel image with a 2D fluoroscopy image to acquire a 2D roadmap image corresponding to a first position; a detector configured to detect a location of a surgical tool from the 2D roadmap image corresponding to the first position, and detect a blood vessel corresponding to the location of the surgical tool from a 3-Dimensional (3D) blood vessel image; and a User Interface (UI) processor configured to mark the 2D roadmap image with the location of the surgical tool with an identifier in the detected blood vessel.