A system for registering a luminal network to a 3D model of the luminal network, the system comprising: a location sensor capable of being navigated within a luminal network inside a patient's body; an electromagnetic field generator configured to detect the location of the location sensor as it is navigated within the luminal network; and a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to: generate a 3D model of the luminal network based on images of the luminal network; identify a target within the 3D model of the luminal network; determine locations of a plurality of carinas in the luminal network proximate the target; display guidance for navigating the location sensor within the luminal network; track the location of the location sensor while the location sensor is navigated within the luminal network; compare the tracked locations of the location sensor within the luminal network and the portions of the 3D model representative of open space and perform automatic registration of the 3D model of the luminal network to the luminal network based on the tracked locations of the location sensor within the luminal network; display guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target; track the location of the location sensor while the location sensor is navigated the predetermined distance into each lumen; and update the registration of the 3D model with the luminal network by performing a local registration of the 3D model with the luminal network based on the tracked locations of the location sensor as it is navigated past the plurality of carinas proximate the target. a location sensor capable of being navigated within a luminal network inside a patient's body; an electromagnetic field generator configured to detect the location of the location sensor as it is navigated within the luminal network; and a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to: generate a 3D model of the luminal network based on images of the luminal network; identify a target within the 3D model of the luminal network; determine locations of a plurality of carinas in the luminal network proximate the target; display guidance for navigating the location sensor within the luminal network; track the location of the location sensor while the location sensor is navigated within the luminal network; compare the tracked locations of the location sensor within the luminal network and the portions of the 3D model representative of open space and perform automatic registration of the 3D model of the luminal network to the luminal network based on the tracked locations of the location sensor within the luminal network; display guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target; track the location of the location sensor while the location sensor is navigated the predetermined distance into each lumen; and update the registration of the 3D model with the luminal network by performing a local registration of the 3D model with the luminal network based on the tracked locations of the location sensor as it is navigated past the plurality of carinas proximate the target. generate a 3D model of the luminal network based on images of the luminal network; identify a target within the 3D model of the luminal network; determine locations of a plurality of carinas in the luminal network proximate the target; display guidance for navigating the location sensor within the luminal network; track the location of the location sensor while the location sensor is navigated within the luminal network; compare the tracked locations of the location sensor within the luminal network and the portions of the 3D model representative of open space and perform automatic registration of the 3D model of the luminal network to the luminal network based on the tracked locations of the location sensor within the luminal network; display guidance for navigating the location sensor a predetermined distance into each lumen originating at the plurality of carinas proximate the target; track the location of the location sensor while the location sensor is navigated the predetermined distance into each lumen; and update the registration of the 3D model with the luminal network by performing a local registration of the 3D model with the luminal network based on the tracked locations of the location sensor as it is navigated past the plurality of carinas proximate the target.