Method and related system for marker-based navigation. A first image is capturing (S530) with a medical imaging apparatus (ENDO), whilst a light source (LS1) of an implanted marker device (MD) is in a low intensity state and a second light source (LS2) of the medical imaging apparatus (IA) is in a high intensity state, higher than the low intensity state of the marker. A second image is captured (S560) with the medical imaging apparatus (ENDO), whilst the light source (LS1) of the implanted marker device is in a high intensity state and the second light source (LS2) of the medical imaging apparatus (IA) is in a low intensity state, lower than the high intensity state of the marker. The two images may then be combined to obtain a combined image that represents the location of the marker at high signal-to-noise-ratio.
