A system includes one or more processors configured to execute instructions to cause the system to access a plurality of images generated by one or more imaging devices of an endoscope when the endoscope is disposed within anatomy of a patient, for each of the plurality of images, determine a value for each of one or more image reliability metrics, and determine a position of the endoscope within the anatomy of the patient based at least in part on the one or more image reliability metrics of each of the plurality of images.