1. A method for sizing an object positioned within a patient, comprising: navigating an elongate body to a location within the patient and proximate to the object, the elongate body comprising an imaging sensor for capturing images of the object; capturing sequential images of the object with the imaging sensor; navigating the elongate body into at least one of a different orientation and a different position during the capture of the sequential images; determining orientations and positions of the elongate body during the capture of the sequential images based on a set of robot data; comparing the orientation and position of the elongate body determined based on the set of robot data for at least one captured sequential image to the orientation and position determined based on the set of robot data for at least another captured sequential image; and analyzing, with a processor, the sequential images of the object and the comparison of the set of robot data to estimate a size of the object.