The invention relates to a device and a method for intraluminal imaging. The device features an imaging instrument and a transport unit, with which the imaging instrument is moved in a lumen at a defined speed over a defined distance. The device further features a rigid, i.e. mechanically-stable singly or multiply curved guide pipe, which has an internal diameter matched to the external diameter of the imaging instrument to accommodate and guide the imaging instrument and is made from a material which is transparent for the radiation or to the waves used in imaging. The guide pipe features at least one marking detectable with the imaging at a known position on the guide pipe and is mechanically connectable to the transport unit. The device and the method make it possible in a simple manner to record a 3D image data set from the intraluminal recorded 2D sectional images.