The method uses markers on a device or guide wire to identify and estimate the motion of an object or region of interest in order to register and motion compensate the projection images to generate a motion compensated reconstruction. The method is evaluated on 20 rotational acquisitions and the average marker couple detection rate is 84 % for cardiac stents, 90 % for closure devices and 20 % for contrast filled coronaries. The projection images are motion compensated based on the semi-automatically detected markers and subsequently used for reconstruction. We conclude that it is feasible to reconstruct cardiac stents, closure devices, contrast filled coronaries, and calcified plaques using rotational X-ray angiography.