Previous studies have shown that guidance systems improve accuracy and reduce skill variation among physicians during bronchoscopy. However, most of these systems suffer from one or more of the following limitations: 1) an attending technician must carefully keep the system position synchronized with the bronchoscope position during the procedure; 2) extra bronchoscope tracking hardware may be required; 3) guidance cannot take place in real time; 4) the guidance system is unable to detect and correct faulty bronchoscope maneuvers; and 5) a resynchronization procedure must be followed after adverse events such as patient cough or dynamic airway collapse. Here, we propose an image-based system for technician-free bronchoscopy guidance that relies on two features. First, our system precomputes a guidance plan that suggests natural bronchoscope maneuvers at every bifurcation leading toward a region of interest (ROI). Second, our system enables bronchoscope position verification that relies on a global-registration algorithm to establish the global bronchoscope position and, thus, provide the physician with updated navigational information during bronchoscopy. The system can handle general navigation to an ROI, as well as adverse events, and is directly controlled by the physician by a foot pedal. Guided bronchoscopy results using airway-tree phantoms and human cases demonstrate the efficacy of the system.