A method includes obtaining a real-time 2-D B-mode image of anatomy of interest in a region of interest. The real-time 2-D B-mode image is generated with ultrasound echoes received by transducer elements (106) of a transducer array (104). The method further includes segmenting one or more anatomical features from the real-time 2-D B-mode image, obtaining 2-D slices of anatomically segmented 3-D navigation image data for the same region of interest, and matching the real-time 2-D B-mode image to at least a sub-set of the 2-D slices based on the segmented anatomical features. The method further includes identifying a 2-D slice of the anatomically segmented 3-D navigation image data that matches the real-time 2-D B-mode image based on the matching, and identifying at least one of a location and an orientation of the transducer array relative to the anatomy based on the match.
