A medical system comprising: an image capture probe including a camera at a tip of the image capture probe; a sensor system for providing a measured position of the image capture probe; and a processor configured to: obtain a model of an anatomic region; receive a true image from the camera of the image capture probe when the image capture probe is located within an anatomic region of a patient anatomy; identify a position of the tip of the image capture probe based on the measured position received from the sensor system; identify a tissue structure in the true image; identify a plurality of virtual tissue structures within a subregion of interest in the model of the anatomic region that potentially contains the tip of the image capture probe based on the position of the tip of the image capture probe; compare the tissue structure to at least a portion of the plurality of virtual tissue structures in the subregion of interest to identify a best matched virtual tissue structure; and perform a registration of the true image to the model of the anatomic region based on identification of the best matched virtual tissue structure to identify a virtual probe position for the tip of the image capture probe with respect to the model, wherein the processor is further configured to repeat receiving the true image, identifying the position of the tip of the image capture probe, identifying the tissue structure, identifying the plurality of virtual tissue structures, comparing the tissue structure to the at least a portion of the plurality of virtual tissue structures, and performing the registration as the image capture probe moves through the patient anatomy. an image capture probe including a camera at a tip of the image capture probe; a sensor system for providing a measured position of the image capture probe; and a processor configured to: obtain a model of an anatomic region; receive a true image from the camera of the image capture probe when the image capture probe is located within an anatomic region of a patient anatomy; identify a position of the tip of the image capture probe based on the measured position received from the sensor system; identify a tissue structure in the true image; identify a plurality of virtual tissue structures within a subregion of interest in the model of the anatomic region that potentially contains the tip of the image capture probe based on the position of the tip of the image capture probe; compare the tissue structure to at least a portion of the plurality of virtual tissue structures in the subregion of interest to identify a best matched virtual tissue structure; and perform a registration of the true image to the model of the anatomic region based on identification of the best matched virtual tissue structure to identify a virtual probe position for the tip of the image capture probe with respect to the model, wherein the processor is further configured to repeat receiving the true image, identifying the position of the tip of the image capture probe, identifying the tissue structure, identifying the plurality of virtual tissue structures, comparing the tissue structure to the at least a portion of the plurality of virtual tissue structures, and performing the registration as the image capture probe moves through the patient anatomy. obtain a model of an anatomic region; receive a true image from the camera of the image capture probe when the image capture probe is located within an anatomic region of a patient anatomy; identify a position of the tip of the image capture probe based on the measured position received from the sensor system; identify a tissue structure in the true image; identify a plurality of virtual tissue structures within a subregion of interest in the model of the anatomic region that potentially contains the tip of the image capture probe based on the position of the tip of the image capture probe; compare the tissue structure to at least a portion of the plurality of virtual tissue structures in the subregion of interest to identify a best matched virtual tissue structure; and perform a registration of the true image to the model of the anatomic region based on identification of the best matched virtual tissue structure to identify a virtual probe position for the tip of the image capture probe with respect to the model, wherein the processor is further configured to repeat receiving the true image, identifying the position of the tip of the image capture probe, identifying the tissue structure, identifying the plurality of virtual tissue structures, comparing the tissue structure to the at least a portion of the plurality of virtual tissue structures, and performing the registration as the image capture probe moves through the patient anatomy.