Systems for image-based registration and associated methods

A non-transitory, computer-readable medium storing instructions thereon that, when executed by one or more processors of a computing system, cause the computing system to perform operations comprising:

• receiving a three-dimensional (3D) model of an anatomic region;
• obtaining, from an image capture device carried by a medical instrument within the anatomic region, one or more images of a portion of the anatomic region;
• generating, based on the one or more images, a 3D reconstruction of the portion of the anatomic region;
• obtaining point cloud data generated by a positional sensor associated with the medical instrument, wherein at least a portion of the point cloud data is generated while the medical instrument is at or near the portion of the anatomic region;
• and
• generating, based on the 3D reconstruction and the point cloud data, a registration between a reference frame for the 3D model and a reference frame for the medical instrument.

A method, comprising:

• receiving a three-dimensional (3D) model of an anatomic region;
• obtaining, from an image capture device carried by a medical instrument within the anatomic region, image data of a portion of the anatomic region;
• generating, based on the image data, a 3D representation of the portion of the anatomic region;
• obtaining a set of coordinate points generated by a positional sensor associated with the medical instrument, wherein at least a portion of the coordinate points are generated while the medical instrument is at or near the portion of the anatomic region;
• and
• generating, based on the 3D representation and the set of coordinate points, a registration between a reference frame for the 3D model and a reference frame for the medical instrument.