Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument. The rendering may be based on a viewpoint directed at the target and different from a viewpoint of the medical instrument
