A computer-implemented method and system are provided for registering a human jaw with a volumetric computed tomography image of that jaw positioned in an image reference coordinate system and stored in a computer-readable memory. The method involves attaching a jaw marker to the jaw to establish a pose trackable jaw reference coordinate system； moving a surface sampling tool over at least one portion of the surface of the jaw while operating a pose tracking system and a computer processor to record samples in the jaw reference coordinate system indicative of locations within the at least one portion of the surface of the jaw； operating a computer processor to determine an approximate initial registration mapping； then beginning with the approximate initial registration mapping, incrementally adjust the registration mapping. Incrementally adjusting the registration mapping involves computing an edge proximity value at each sample location mapped to the image by the registration mapping.
