A navigation system for registering a computer model of a lumen network to an actual lumen network of a patient while navigating the lumen network with a probe, said system comprising a probe, and wherein said system is adapted to: collect data pertaining to an actual location of a probe having sensors； process successive data points to establish a probe path； iteratively register the probe path to a path shape on a computer model of a lumen network while tracking the location of the probe； iteratively adjust the location of the computer model such that said probe path lies within the path shape.
