1. A method for registering a three-dimensional model of a body volume to a real-time image of a sensor, the method comprising: inserting the sensor into a body lumen to acquire location data; processing the location data to form a three-dimensional shape having clouds of voxels; defining a plurality of parameters having predefined thresholds; and comparing the three-dimensional shape having the clouds of voxels that meet the predefined thresholds of the plurality of parameters to a three-dimensional model to establish a feature-based registration.