A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.