A method of navigating a cavity of a subject employing images from a previous navigation is provided. In a first endoscopic examination, a set of schemas and at least one bookmark are saved in a data storage device. Each schema includes at least a still image in a cavity and a direction of a distal end. At least one bookmark is defined as at least one schema at a point of interest. In a second endoscopic examination, still images during navigation of an endoscope are compared with still images in the set of schemas to find a match, and use the information derived from the match to determine the location and the orientation of the distal end. An endoscopic system for effecting this method and a non-transitory machine-readable storage medium embodying a program for operating such an endoscopic system are also provided.
