Determination of cardiac geometry responsive to doppler based imaging of blood flow characteristics

A method for identifying a location of a physical structure in a body, comprising:

• executing a plurality of program instructions in an electronic control unit including instructions for:
• determining a position of a fiducial marker in a first image of a portion of a body and a position of a first sensor in a three-dimensional coordinate system, said sensor associated with said fiducial marker;
• registering the first image in said three-dimensional coordinate system;
• identifying said location of said physical structure in said three-dimensional coordinate system responsive to flow of a fluid in said image;
• adding points corresponding to said location of said physical structure to a point cloud corresponding to said physical environment, said point cloud comprising points collected with said sensor.