Systems and methods for image guided surgery are disclosed herein. An example method can include: receiving a plurality of 2D projection images of an object at a plurality of projection angles during a first period of time and receiving a position of an instrument relative to a tracking coordinate system during the first period of time. The method can also include registering the plurality of 2D projection images relative to the tracking coordinate system to obtain a transformation function that defines a relationship between a coordinate system of the plurality of 2D projection images and the tracking coordinate system receiving an adjusted position of the instrument relative to the tracking coordinate system during a second period of time that is subsequent to the first period of time and estimating an adjusted position of the instrument relative to the plurality of 2D projection images using the transformation function.
