A method for registering computerized tomography data and a three dimensional frame of reference comprises (a) forming a three-dimensional frame of reference with respect to a position measuring system； (b1) measuring a position and a pointing direction of a position sensor associated with a catheter relative to a three-dimensional frame of reference, (b2) generating (106； 120) camera views of distinctive features of an object within the three-dimensional frame of reference ； and (c) deriving (112； 128； 124) a best fit between a computerized tomography image or a predefined geometrical model the measured position and pointing direction of the position sensor relative to the three-dimensional frame of reference.
