Abstract: Multiple candidates are optimized in medical device or feature tracking. Possible locations of medical devices or features for each of a plurality of different times are received. The possible locations of devices are modeled using a probability function. An iterative solution to obtain the maximum of the probability function determines the possible locations to be used as the locations of the medical devices or features for each time. Where two or more medical devices or features are provided with a geometric relationship, such as being connected by a detected guide wire, the probability function may account for the geometric relationship, such as a geodesic distance between the possible locations for the two medical devices.