A system may comprise an elongate flexible instrument including an imaging device disposed at a distal end portion of the elongate flexible instrument. The imaging device may include a multi-directional imaging array. The elongate flexible instrument may also include a localization sensor extending within the elongate flexible instrument. The system may also comprise a controller comprising one or more processors configured to register the localization sensor to a patient anatomy and receive orientation data for the distal end portion of the elongate flexible instrument from the localization sensor. Based on the orientation data, an imaging plane of the imaging device may be selected. An image in the selected imaging plane may be displayed. The image may be generated by imaging data from the multi-directional imaging array of the imaging device.