Systems and methods for registration of multiple vision systems

An apparatus comprising:

• a processor;
• and
• a memory storing computer-readable instructions that, when executed by the processor, cause the apparatus to:
• define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures, wherein a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the image capture probe;
• compare a tissue structure in an image received from a camera positioned at the tip of the image capture probe to at least a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure;
• and
• based on identification of the closest matched virtual tissue structure, perform a registration of the image to the model of the anatomic region to identify a virtual probe position for the tip of the image capture probe with respect to the model.