A method and system for tracking an ablation catheter and a circumferential mapping catheter in a fluoroscopic image sequence is disclosed. Catheter electrode models for the ablation catheter and the circumferential mapping catheter are initialized in a first frame of a fluoroscopic image sequence based on user inputs. The catheter electrode models for the ablation catheter and the circumferential mapping catheter are then tracked in each remaining frame of the fluoroscopic image sequence. In each remaining frame, candidates of catheter landmarks such as the catheter tip, electrodes and body points are detected for the ablation catheter and the circumferential mapping catheter, tracking hypotheses for the catheter electrode models are generated, and for each of the ablation catheter and the circumferential mapping catheter, the catheter electrode model having the highest probability score is selected from the generated tracking hypotheses.