1. A method for registering a three-dimensional model of a body volume to a real-time indication of a sensor position, the method comprising: collecting reference data on the body volume; creating the three-dimensional model of said body volume from the reference data; inserting a sensor into a body lumen and recording location data from said sensor including a real-time sensor position; processing said location data recorded by the inserted sensor to form a three-dimensional shape corresponding to space within said lumen, the three-dimensional shape including a plurality of cavity voxels; assigning a value to each cavity voxel of the plurality of cavity voxels encountered by the sensor, the value of each cavity voxel corresponding to a frequency with which each cavity voxel encounters the sensor; adjusting a density of the plurality of cavity voxels in accordance with the value of each cavity voxel; creating clouds of cavity voxels having varying densities that match interior anatomical cavity features; defining a plurality of parameters having predefined thresholds; determining which of the cavity voxels of the plurality of cavity voxels identified by the location data satisfy the predefined thresholds of the plurality of parameters; selecting the cavity voxels satisfying the predefined thresholds of the plurality of parameters; and comparing said three-dimensional shape including only cavity voxels satisfying the predefined thresholds of the plurality of parameters to said three dimensional model to establish a feature-based registration.