A computer-assisted medical system comprising: one or more processors; and a fiducial marker configured to be positioned within a surgical coordinate space, the fiducial marker including a shape sensor (222, 364), wherein the fiducial marker is radiopaque, and wherein the one or more processors are configured to perform a method including: receiving, from a fluoroscopic imager, first fluoroscopic image data of the fiducial marker, the first fluoroscopic image data including a plurality of images of the fiducial marker, wherein the plurality of images includes images of the fiducial marker taken from at least two different perspectives of the fluoroscopic imager or taken when the fiducial marker is in at least two different poses; receiving shape information from the shape sensor (222, 364), the shape information including a known configuration of the fiducial marker within the surgical coordinate space; developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the known configuration of the fiducial marker; determining a set of calibration parameters of the fluoroscopic imager in the surgical coordinate space based on the calibrated model, wherein the set of calibration parameters includes at least one of a focal length, a projection center, pixel scales, rotation of the fluoroscopic imager, or translation of the fluoroscopic imager; and determining a pose of the fiducial marker in the surgical coordinate space based on the set of calibration parameters of the fluoroscopic imager. one or more processors; and a fiducial marker configured to be positioned within a surgical coordinate space, the fiducial marker including a shape sensor (222, 364), wherein the fiducial marker is radiopaque, and wherein the one or more processors are configured to perform a method including: receiving, from a fluoroscopic imager, first fluoroscopic image data of the fiducial marker, the first fluoroscopic image data including a plurality of images of the fiducial marker, wherein the plurality of images includes images of the fiducial marker taken from at least two different perspectives of the fluoroscopic imager or taken when the fiducial marker is in at least two different poses; receiving shape information from the shape sensor (222, 364), the shape information including a known configuration of the fiducial marker within the surgical coordinate space; developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the known configuration of the fiducial marker; determining a set of calibration parameters of the fluoroscopic imager in the surgical coordinate space based on the calibrated model, wherein the set of calibration parameters includes at least one of a focal length, a projection center, pixel scales, rotation of the fluoroscopic imager, or translation of the fluoroscopic imager; and determining a pose of the fiducial marker in the surgical coordinate space based on the set of calibration parameters of the fluoroscopic imager. receiving, from a fluoroscopic imager, first fluoroscopic image data of the fiducial marker, the first fluoroscopic image data including a plurality of images of the fiducial marker, wherein the plurality of images includes images of the fiducial marker taken from at least two different perspectives of the fluoroscopic imager or taken when the fiducial marker is in at least two different poses; receiving shape information from the shape sensor (222, 364), the shape information including a known configuration of the fiducial marker within the surgical coordinate space; developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the known configuration of the fiducial marker; determining a set of calibration parameters of the fluoroscopic imager in the surgical coordinate space based on the calibrated model, wherein the set of calibration parameters includes at least one of a focal length, a projection center, pixel scales, rotation of the fluoroscopic imager, or translation of the fluoroscopic imager; and determining a pose of the fiducial marker in the surgical coordinate space based on the set of calibration parameters of the fluoroscopic imager.