A system comprising: a catheter (104, 202, 610); an endotracheal tube, positionable within a patient to guide the catheter into the patient's lungs; a display system; and a control system in communication with the catheter and the display system, the control system including a processor configured for: accessing a set of model points of a model (502, 550, 1104) of one or more anatomical passageways; detecting a point collection condition in image data obtained from an image-capture instrument of the catheter, wherein the point collection condition is recognition of a transition out of the endotracheal tube of a distal portion of the catheter and the endotracheal tube comprises an interior surface having a non-naturally occurring color of the anatomical passageway thereon or the endotracheal tube comprises an interior surface having a visual pattern thereon; automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture instrument; performing a point set registration algorithm using the set of model points of the model of one or more anatomical passageways and the set of measured points to produce a registered set of model points; and displaying a visual representation of the registered set of model points in a user interface provided by the display system. a catheter (104, 202, 610); an endotracheal tube, positionable within a patient to guide the catheter into the patient's lungs; a display system; and a control system in communication with the catheter and the display system, the control system including a processor configured for: accessing a set of model points of a model (502, 550, 1104) of one or more anatomical passageways; detecting a point collection condition in image data obtained from an image-capture instrument of the catheter, wherein the point collection condition is recognition of a transition out of the endotracheal tube of a distal portion of the catheter and the endotracheal tube comprises an interior surface having a non-naturally occurring color of the anatomical passageway thereon or the endotracheal tube comprises an interior surface having a visual pattern thereon; automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture instrument; performing a point set registration algorithm using the set of model points of the model of one or more anatomical passageways and the set of measured points to produce a registered set of model points; and displaying a visual representation of the registered set of model points in a user interface provided by the display system. accessing a set of model points of a model (502, 550, 1104) of one or more anatomical passageways; detecting a point collection condition in image data obtained from an image-capture instrument of the catheter, wherein the point collection condition is recognition of a transition out of the endotracheal tube of a distal portion of the catheter and the endotracheal tube comprises an interior surface having a non-naturally occurring color of the anatomical passageway thereon or the endotracheal tube comprises an interior surface having a visual pattern thereon; automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture instrument; performing a point set registration algorithm using the set of model points of the model of one or more anatomical passageways and the set of measured points to produce a registered set of model points; and displaying a visual representation of the registered set of model points in a user interface provided by the display system.