Systems and methods of registration for image-guided procedures

A method of registration using one or more processors, the method comprising:

• collecting a set of sensor data during insertion of a flexible elongate device within a plurality of passageways, wherein the sensor data comprises a plurality of points representing a plurality of locations of the flexible elongate device within the plurality of passageways;
• organizing the plurality of points based on a corresponding insertion depth of the flexible elongate device when each of the plurality of points is collected by placing the plurality of points into bins based on ranges of insertion depth;
• creating a passageway tree based on the organized points;
• identifying at least three non-collinear landmark locations within the passageway tree;
• creating a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data;
• and
• registering, using the seed transformation, the plurality of points to the model data for the plurality of passageways.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a device are adapted to cause the one or more processors to perform operations including:

• collecting a set of sensor data during insertion of a flexible elongate device within a plurality of passageways, wherein the sensor data comprises a plurality of points representing a plurality of locations of the flexible elongate device within the plurality of passageways;
• organizing the plurality of points based on a corresponding insertion depth of the flexible elongate device when each of the plurality of points is collected by placing the plurality of points into bins based on ranges of insertion depth;
• creating a passageway tree based on the organized points;
• identifying at least three non-collinear landmark locations within the passageway tree;
• creating a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data;
• and
• registering, using the seed transformation, the plurality of points to the model data for the plurality of passageways.