A method includes accessing a set of model points of a model of one or more passageways of a patient； detecting a point collection condition in image data obtained from an image-capture device of a catheter based upon machine vision； automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture device； performing a point set registration algorithm using the set of model points of the model of one or more passageways of the patient and the set of measured points to produce a registered set of model points； and displaying a visual representation of the registered set of model points in a user interface provided by a display system.
