1. A method for registering a probe with an object by probing the object with the probe at multiple poses, wherein each pose of the probe includes a location and an orientation, comprising the steps of: representing a probability distribution of a current location of the probe by a set of particles, wherein each particle has a location and a weight corresponding to a probability of the particle, and representing a probability distribution of a current orientation of the probe by a Gaussian distribution for each particle conditioned on the location of the particle; choosing a set of candidate motions; determining, for each candidate motion, an expected uncertainty based on the set of particles; selecting the candidate motion with a least expected uncertainty as a next motion of the probe; moving the probe according, to the next motion; and updating the set of particles using the next pose of the probe, wherein the registration is in a Rao-Blackwellized particle filtering (RBPF) framework and wherein the steps are performed in a processor.