based registration techniques are improved upon through the use of a trackable sensor by monitoring sensor data an approximate position of the probe tip is easily determined hence a database of virtual images may be appropriately parsed such that the matching algorithm has a significantly reduced number of iterations through which it must cycle to find a match the position of the sensor is thus used as filtering tool to determine which images are locally relevant additionally the tracking of a tool tip or bronchoscope location will not be lost in cases of partial or complete obscurity of the video image or in cases when the bronchoscope is passing a bifurcation while the camera is pointed away from the bifurcation toward a wall due to the tracking capability provided by the trackable sensor the number of matching images will typically be reduced to only one after the outliers are removed hence not only is the matching procedure much quicker it is also more accurate and less likely to provide incorrect matches the image based registration methods are further improved because the need for camera calibration is eliminated presently image based registration methods require extensive camera calibration efforts prior to each procedure in order to obtain images that can be matched to the.