1. In a system for image-guided bronchoscopy, wherein global and local algorithms are used to register real bronchoscopic (RB) endoluminal video frames obtained from a bronchoscope to virtual bronchoscopic (VB) views computed from a 3D MDCT chest scan, a method of recovering from an adverse event, comprising the steps of: detecting a faulty bronchoscope maneuver caused by an adverse event; and performing at least one step to re-register the RB endoluminal video frames and the VB views to ensure that the bronchoscope remains on a correct path to a region of interest (ROI).