A system for constructing fluoroscopic-based three-dimensional volumetric data from two-dimensional fluoroscopic images, the system comprising a computing device configured to: receive a fluoroscopic video of a target area within a patient captured by a fluoroscopic imaging device；determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video based on at least one of:a registration between the fluoroscopic video and virtual fluoroscopic images of the patient, wherein the virtual fluoroscopic images of the patient are created from previously acquired CT volumetric data of the patient,reconstructed positions of multiple markers throughout the fluoroscopic video using a structure-from-motion technique, wherein the fluoroscopic video is of the target area and multiple markers located within the target area, orby utilizing an external angle measuring device； andconstruct, from the fluoroscopic video and the pose determined for each frame of the fluoroscopic video, fluoroscopic-based three-dimensional volumetric data of the target area.
