An ultrasound imaging device (10) with an ultrasound probe (12) acquires a live ultrasound image which is displayed with a contour (62) or reference image (60) registered with the live ultrasound image using a composite transform (42). To update the composite transform, the ultrasound imaging device acquires a baseline three-dimensional ultrasound (3D-US) image (66) tagged with a corresponding baseline orientation of the ultrasound probe measured by a probe tracker, and one or more reference 3D-US images (70) each tagged with a corresponding reference orientation. Transforms (54) are computed to spatially register each reference 3D-US image with the baseline 3D-US image. A closest reference 3D-US image is determined whose corresponding orientation is closest to a current orientation of the ultrasound probe as measured by the probe tracker. The composite transform is updated to include the transform to spatially register the closest reference 3D-US image to the baseline 3D-US image.