Skeleton model instrument localization

A non-transitory computer-readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to:

• access a branched skeleton model defining a skeleton including a plurality of segments representing respective segments of a luminal network;
• identify a segment of the plurality of segments of the branched skeleton model corresponding to a position of a distal end of an instrument;
• determine a depth along the segment corresponding to the position of the distal end of the instrument;
• access an anatomical map of the luminal network, the anatomical map being an image-based model of the luminal network;
• and
• determine a position of the distal end of the instrument relative to the anatomical map of the luminal network based on the identified segment and the depth along the segment.

A method of localizing an instrument, the method comprising:

• accessing a branched skeleton model defining a skeleton including a plurality of segments representing respective segments of a luminal network;
• identifying a segment of the plurality of segments of the branched skeleton model corresponding to a position of a distal end of an instrument;
• determining a depth along the segment corresponding to the position of the distal end of the instrument;
• accessing an anatomical map of the luminal network, the anatomical map being an image-based model of the luminal network;
• and
• determining a position of the distal end of the instrument relative to the anatomical map of the luminal network based on the identified segment and the depth along the segment.