1. A method for tree structure based two-dimensional to three-dimensional registration comprising: receiving three-dimensional (3D) image data indicative of vessels; segmenting the 3D image data with a vessel tree to generate a segmented 3D image; simulating two-dimensional (2D) image from the segmented 3D image data and a hypothesized pose to form a simulated 2D image; receiving 2D data indicative of vessels; segmenting the received 2D image data with a vessel tree to generate a segmented 2D image; extracting a 2D distance map image from a distance transform of the segmented 2D image; comparing the simulated 2D image with the 2D distance map image to generate a probability of the hypothesized pose; optimizing the hypothesized pose based on a particle filtering scheme that uses a plurality of poses of the received 2D image data relative to the received 3D image data and the probability; and registering the received 2D image data with the received 3D image data based on the optimized hypothesized pose, wherein weights of the particle filtering scheme are based on the distance transform of the segmented 2D data, and wherein the method is performed by a processor.