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 the body lumen to acquire location data; processing the location data to form a three-dimensional shape including a plurality of cavity voxels; defining a plurality of parameters having predefined thresholds; selecting cavity voxels of the plurality of cavity voxels satisfying the predefined thresholds of the plurality of parameters; and comparing the three-dimensional shape including the cavity voxels satisfying the predefined thresholds of the plurality of parameters to a three-dimensional model to establish a feature-based registration.