A medical device comprising: an elongate device including a flexible body ; a tracking system disposed along at least a portion of the flexible body ; one or more processors communicatively coupled to the tracking system ; wherein the one or more processors are configured to: receive a route to a target location in an anatomy, the route traversing a plurality of generations of passageways of the anatomy; determine one or more features of the route based on a first anatomical representation; generate an elongated, linear reduced anatomical representation based on the one or more features of the route, the elongated, linear reduced anatomical representation including a plurality of tiers of passageways, wherein each tier of the plurality of tiers corresponds to a respective generation of passageways of the plurality of generations of passageways along the route, wherein each tier includes a respective passageway width, and wherein the respective passageway width for each tier is constant along a length of each tier; receive real-time position information from the tracking system ; associate the real-time position information to the elongated, linear reduced anatomical representation ; and dynamically display the elongated, linear reduced anatomical representation with the associated real-time position information. an elongate device including a flexible body ; a tracking system disposed along at least a portion of the flexible body ; one or more processors communicatively coupled to the tracking system ; wherein the one or more processors are configured to: receive a route to a target location in an anatomy, the route traversing a plurality of generations of passageways of the anatomy; determine one or more features of the route based on a first anatomical representation; generate an elongated, linear reduced anatomical representation based on the one or more features of the route, the elongated, linear reduced anatomical representation including a plurality of tiers of passageways, wherein each tier of the plurality of tiers corresponds to a respective generation of passageways of the plurality of generations of passageways along the route, wherein each tier includes a respective passageway width, and wherein the respective passageway width for each tier is constant along a length of each tier; receive real-time position information from the tracking system ; associate the real-time position information to the elongated, linear reduced anatomical representation ; and dynamically display the elongated, linear reduced anatomical representation with the associated real-time position information. receive a route to a target location in an anatomy, the route traversing a plurality of generations of passageways of the anatomy; determine one or more features of the route based on a first anatomical representation; generate an elongated, linear reduced anatomical representation based on the one or more features of the route, the elongated, linear reduced anatomical representation including a plurality of tiers of passageways, wherein each tier of the plurality of tiers corresponds to a respective generation of passageways of the plurality of generations of passageways along the route, wherein each tier includes a respective passageway width, and wherein the respective passageway width for each tier is constant along a length of each tier; receive real-time position information from the tracking system ; associate the real-time position information to the elongated, linear reduced anatomical representation ; and dynamically display the elongated, linear reduced anatomical representation with the associated real-time position information. <EOS>