An image-guided system employs an X-ray imaging device (20) for generating one or more X-ray images (25, 26) illustrating a tool (41) within an anatomical region (40) and an ultrasound imaging device (30) for generating an ultrasound image (33) illustrating the tool (41) within the anatomical region (40). The image-guided system further employs a tool tracking device (50) for visually tracking the tool (41) within the anatomical region (40). In operation, the tool tracking device (50) localizes a portion of the tool (41) as located within the ultrasound image (33) responsive to an identification of the portion of the tool (41) as located within the X-ray image(s) (25, 26), and executes an image segmentation of an entirety of the tool (41) as located within the ultrasound image (33) relative to a localization of the portion of the tool (41) as located within the ultrasound image (33).
