A system to navigate an imaged subject in relation to an acquired image of the imaged subject is provided. The system includes an intracardiac echocardiography (ICE) imaging system having a transducer operable to acquire image data so as to create a four-dimensional image model of the imaged subject. The model is defined in spatial relation and orientation relative to an image coordinate system. A tracking system is operable to track movement and orientation of the transducer through the imaged subject relative to a tracking coordinate system. A controller is electrically connected in communication with the imaging system and the tracking system. The controller is operable to register the image coordinate system with the tracking coordinate system, and to calibrate the image coordinate system and the tracking coordinate system relative to a common reference having fiducials of known spatial relation.