Catheter tracking has become an integral part of interventional radiology. Over the last decades, researchers have significantly contributed to theoretical and technical catheter tracking solutions. However, most of the published work thus far focuses on a single application or a single tracking technology. This paper provides an exhaustive review of the state-of-the-art for catheter tracking in general by analyzing significant contributions in this field. We first present a historical overview that led to catheter tracking and continue with a survey of leading tracking technologies. These include image-based tracking, active and passive tracking, electromagnetic tracking, fiber optic shape sensing, bioelectric navigation, robotic tracking solutions, and hybrid tracking. As for imaging modalities, the focus is on x-ray based modalities, ultrasound, and magnetic resonance imaging. Finally, we review each tracking technology with respect to the imaging modality and establish the relation between the two and the underlying anatomy of interest.