1. A method for registering a body volume with a real-time location of a sensor, the method comprising: acquiring a plurality of CT scans; assembling the plurality of CT scans into a three-dimensional model; inserting the sensor into a body lumen to acquire location data; establishing a data stream between the sensor and a system processor; processing the location data to form a three-dimensional shape to generate a cloud of voxels, wherein a density of a voxel generated from the location data is weighted as a function of a speed of the sensor through the body lumen; and comparing the three-dimensional shape to the three-dimensional model to register the three-dimensional shape to the three-dimensional model such that the three-dimensional shape is within boundaries of the three-dimensional model.