A system for performing an electromagnetic surgical navigation procedure, the system comprising: an electromagnetic tracking system having electromagnetic tracking coordinates; a catheter including a sensor configured to couple to the electromagnetic tracking system for detecting a position of the catheter in the electromagnetic tracking coordinates; and a computing device operably coupled to the electromagnetic tracking system and the catheter, the computing device configured to: display a navigation path to guide navigation of the catheter to a target area; display the position of the catheter in the electromagnetic coordinates on a 3D rendering; acquire fluoroscopic data from a fluoroscopic sweep of the target area, the fluoroscopic data including 2D fluoroscopic frames of the target area captured from different perspectives; perform an initial catheter detection for catheter tip candidates in each 2D frame of the fluoroscopic data; perform a secondary catheter detection for catheter tip candidates in each 2D frame of the fluoroscopic data; reconstruct a 3D position of the catheter tip and finding an intersection point of rays extending from the candidates of each 2D frame (501a, 501b, 501c, 501n); (503a, 503b, 503c, 503n) eliminate as false-positive catheter tip candidates of the secondary catheter detections whose number of rays determined to intersect the intersection point fall below a preconfigured threshold. an electromagnetic tracking system having electromagnetic tracking coordinates; a catheter including a sensor configured to couple to the electromagnetic tracking system for detecting a position of the catheter in the electromagnetic tracking coordinates; and a computing device operably coupled to the electromagnetic tracking system and the catheter, the computing device configured to: display a navigation path to guide navigation of the catheter to a target area; display the position of the catheter in the electromagnetic coordinates on a 3D rendering; acquire fluoroscopic data from a fluoroscopic sweep of the target area, the fluoroscopic data including 2D fluoroscopic frames of the target area captured from different perspectives; perform an initial catheter detection for catheter tip candidates in each 2D frame of the fluoroscopic data; perform a secondary catheter detection for catheter tip candidates in each 2D frame of the fluoroscopic data; reconstruct a 3D position of the catheter tip and finding an intersection point of rays extending from the candidates of each 2D frame (501a, 501b, 501c, 501n); (503a, 503b, 503c, 503n) eliminate as false-positive catheter tip candidates of the secondary catheter detections whose number of rays determined to intersect the intersection point fall below a preconfigured threshold. display a navigation path to guide navigation of the catheter to a target area; display the position of the catheter in the electromagnetic coordinates on a 3D rendering; acquire fluoroscopic data from a fluoroscopic sweep of the target area, the fluoroscopic data including 2D fluoroscopic frames of the target area captured from different perspectives; perform an initial catheter detection for catheter tip candidates in each 2D frame of the fluoroscopic data; perform a secondary catheter detection for catheter tip candidates in each 2D frame of the fluoroscopic data; reconstruct a 3D position of the catheter tip and finding an intersection point of rays extending from the candidates of each 2D frame (501a, 501b, 501c, 501n); (503a, 503b, 503c, 503n) eliminate as false-positive catheter tip candidates of the secondary catheter detections whose number of rays determined to intersect the intersection point fall below a preconfigured threshold.