No, the Mark II/Chaser/Cresta are FR cars (RWD). They are not related in any way to the Camry/ES300 platform.
However, you CAN learn something about the '02 Camry/ES from the Mark II. Notice how the latest styling from Toyota (IS300, Mark II, etc) have similar design themes, like the more aggressive C-Pillar (thicker and swept), headlight design (trapezoid shape with dual "circles" inside), japan-generic taillight (slanted triangles)...
Morph these elements together and you will have the new Camry.