One or more non-transitory computer-readable media having data and machine readable instructions executable by a processor, the machine readable instructions causing the processor to at least: compute a registration matrix based on applying a tracking-marker coordinate system for at least one combination marker device to a radiographic transformation matrix, such that the registration matrix provides a transformation from a tracking coordinate system of a tracking system to a common three-dimensional coordinate system, the radiographic transformation matrix being generated based on an image space transformation matrix and an image-marker transformation matrix, the image space transformation matrix being generated based on pre-operative image data and intraoperative image data for a patient, in which the intraoperative image data comprises one or more images acquired by an imaging modality intraoperatively of an anatomical structure of the patient and the at least one combination marker device positioned on the patient, and the image-marker transformation matrix is generated based on the intraoperative image data and the tracking-marker coordinate system; storing in memory a patient-specific implicit model defining a geometry of the anatomical structure of the patient that is computed from the pre-operative image data and spatially registered in the common three-dimensional coordinate system; register tracking data based on the registration matrix in the common three-dimensional coordinate system, in which the patient-specific implicit model defining the geometry of the anatomical structure of the patient is also registered in the common three-dimensional coordinate system, the tracking data is generated by the tracking system to represent a location of a sensor attached to an object within the patient in the tracking coordinate system of the tracking system; and generate an output visualization representing a location of the object relative to geometry of the anatomical structure of the patient in the common three-dimensional coordinate system based on the registered tracking data and the patient-specific implicit model. compute a registration matrix based on applying a tracking-marker coordinate system for at least one combination marker device to a radiographic transformation matrix, such that the registration matrix provides a transformation from a tracking coordinate system of a tracking system to a common three-dimensional coordinate system, the radiographic transformation matrix being generated based on an image space transformation matrix and an image-marker transformation matrix, the image space transformation matrix being generated based on pre-operative image data and intraoperative image data for a patient, in which the intraoperative image data comprises one or more images acquired by an imaging modality intraoperatively of an anatomical structure of the patient and the at least one combination marker device positioned on the patient, and the image-marker transformation matrix is generated based on the intraoperative image data and the tracking-marker coordinate system; storing in memory a patient-specific implicit model defining a geometry of the anatomical structure of the patient that is computed from the pre-operative image data and spatially registered in the common three-dimensional coordinate system; register tracking data based on the registration matrix in the common three-dimensional coordinate system, in which the patient-specific implicit model defining the geometry of the anatomical structure of the patient is also registered in the common three-dimensional coordinate system, the tracking data is generated by the tracking system to represent a location of a sensor attached to an object within the patient in the tracking coordinate system of the tracking system; and generate an output visualization representing a location of the object relative to geometry of the anatomical structure of the patient in the common three-dimensional coordinate system based on the registered tracking data and the patient-specific implicit model.