A medical system comprising: an image capture probe sized to extend within an anatomic region, the image capture probe including a sensor system for providing a measured position of the image capture probe; a processor configured to: generate a model of the anatomic region; receive a true image from the image capture probe positioned within the anatomic region; identify a true fiducial region in the true image; perform an initial registration between the sensor system and the model; and define a subregion of the model corresponding to an area around the measured position of the image capture probe; characterised in that the processor is further configured to: perform a search of a search space defined by the subregion of the model to identify a plurality of virtual tissue structures in the subregion of the model of the anatomic region; match one of the plurality of the virtual tissue structures in the subregion of the model with the identified true fiducial region in the true image, wherein the matched one of the plurality of the virtual tissue structures is associated with a virtual probe position; and localize a tip of the image capture probe relative to the model of the anatomic region including determining an offset between the measured position of the image capture probe and the virtual probe position. an image capture probe sized to extend within an anatomic region, the image capture probe including a sensor system for providing a measured position of the image capture probe; a processor configured to: generate a model of the anatomic region; receive a true image from the image capture probe positioned within the anatomic region; identify a true fiducial region in the true image; perform an initial registration between the sensor system and the model; and define a subregion of the model corresponding to an area around the measured position of the image capture probe; characterised in that the processor is further configured to: perform a search of a search space defined by the subregion of the model to identify a plurality of virtual tissue structures in the subregion of the model of the anatomic region; match one of the plurality of the virtual tissue structures in the subregion of the model with the identified true fiducial region in the true image, wherein the matched one of the plurality of the virtual tissue structures is associated with a virtual probe position; and localize a tip of the image capture probe relative to the model of the anatomic region including determining an offset between the measured position of the image capture probe and the virtual probe position. generate a model of the anatomic region; receive a true image from the image capture probe positioned within the anatomic region; identify a true fiducial region in the true image; perform an initial registration between the sensor system and the model; and define a subregion of the model corresponding to an area around the measured position of the image capture probe; characterised in that the processor is further configured to: perform a search of a search space defined by the subregion of the model to identify a plurality of virtual tissue structures in the subregion of the model of the anatomic region; match one of the plurality of the virtual tissue structures in the subregion of the model with the identified true fiducial region in the true image, wherein the matched one of the plurality of the virtual tissue structures is associated with a virtual probe position; and localize a tip of the image capture probe relative to the model of the anatomic region including determining an offset between the measured position of the image capture probe and the virtual probe position. perform a search of a search space defined by the subregion of the model to identify a plurality of virtual tissue structures in the subregion of the model of the anatomic region; match one of the plurality of the virtual tissue structures in the subregion of the model with the identified true fiducial region in the true image, wherein the matched one of the plurality of the virtual tissue structures is associated with a virtual probe position; and localize a tip of the image capture probe relative to the model of the anatomic region including determining an offset between the measured position of the image capture probe and the virtual probe position.