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Recently, colon diagnosis method using CT volume, which is called as CT colonography, is widely used. Lesions found by CT colonography can be resected by using colonoscope. However, understanding a colonoscope tip position while inserting it to the colon is difficult. In this paper, we propose an estimation metod of a colonoscope tip position in the colon using abdominal CT volume and electromagnetic position sensor. Firstly, we extract a curve passing the center of lumen (colon centerline) from abdominal CT volume. We obtain a curve that represents the shape of the colonoscope (colonoscope line) by using electromagnetic sensors attached to the colonoscope. We extract anatomical feature points (landmarks) from the colon centerline and register the two coordinate systems utilizing landmarks. Then, we make correspondences between points on the estimated colonoscope line and the colon centerline by using the length along the colonoscope line and the landmarks. We applied the proposed method to a colon phantom and measured correspondence errors of the colonoscope tip. The errors were measured as the length along the colon centerline. 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