Intracardiac echocardiography image reconstruction in combination with position tracking system

A tracking system comprising:

• an imaging probe configured to travel through an imaged anatomy, the imaging probe operable to acquire real-time, three-dimensional (3D), image data of an imaged anatomy, the imaging probe configured to provide the 3D image data to an imaging system;
• an input configured to receive, from the imaging system, a 3D model of a portion of the imaged anatomy, the 3D model being generated based on the 3D image data;
• a tracking module including an electromagnetic tracking element integrated with the imaging probe to obtain real-time tracking information representative of a position of the imaging probe, the tracking module configured to selectively track the imaging probe using the tracking information;
• an electrophysiologv (EP) input configured to receive electroanatomical information from an EP system;
• and
• a registration module configured to map the electroanatomical information onto the 3D model based on the tracking information to form a color-coded map of the portion of the imaged anatomy.