1. An imaging system, comprising: an ultrasound catheter including a tubular body, comprising: a localizer sensor adapted and configured to generate positional information for the ultrasound catheter; and an imaging ultrasound sensor positionable relative to the tubular body so as to have a first restricted field of view; and a controller coupled to the ultrasound catheter for co-registering images from the imaging ultrasound sensor with positional information from the localizer sensor, wherein the controller is further configured to generate a context map of a geometry of a heart on a display and highlight a surface on the context map corresponding to a frame of the heart for which ultrasound data has been captured by said imaging ultrasound sensor wherein the first restricted field of view spans less than 360 degrees about the tubular body.