The present invention relates to supporting an interventional procedure involving a device, such as a cardiovascular procedure. First and second image data acquired using different imaging apparatus, for example X-ray and ultrasound image data, are co-registered. A device is firstly identified in 2D X-ray images； corresponding identification information is then used to generate a view from 3D ultrasound image data that includes a cross-section of the device to be identified subsequently. Following the identification, a 3D position and orientation of the device are available. Such information may advantageously be used in setting up optimal ultrasound views for image-based guidance of the ongoing procedure.
