A system and method include a shape sensing enabled device (120) including one or more imaging devices (202), the shape sensing enabled device coupled to at fiber (122). A shape sensing module (132) is configured to receils from the at least one optical fiber within a structure and interpret the optical signals to determine a shape of the shape sensing enabled device. A device positioning module (134) is configured to determine position information of the one or more imaging devices based upon one or more relationships between the at least one optical fiber and the one or more imaging devices. A mapping module (136) is configured to register frames of reference of the at least one optical fiber, the shape sensing enabled device, and a mapping system of a target device (124) to provide an adjusted position of the target device based on the position information.