The registration of tubular organs (pulmonary tracheobronchial tree or vasculature) of 3D medical images is critical in various clinical applications such as surgical planning and radiotherapy. In this paper, we present a novel method for tubular organs registration based on the automatically detected bifurcation points of the tubular organs. We first perform a 3D tubular organ segmentation method to extract the centerlines of tubular organs and radius estimation in both planning and respiration-correlated CT (RCCT) images. This segmentation method automatically detects the bifurcation points by applying Adaboost algorithm with specially designed filters. We then apply a rigid registration method which minimizes the least square error of the corresponding bifurcation points between the planning CT images and the respiration-correlated CT images. Our method has over 96 % success rate for detecting bifurcation points. We present very promising results of our method applied to the registration of the planning and respiration-correlated CT images. On average, the mean distance and the root-meansquare error (RMSE) of the corresponding bifurcation points between the respiration-correlated images and the registered planning images are less than 2.7 mm.