A system for planning a tomographic image acquisition of an object to be imaged by a tomographic imaging scanner, the system comprising: an input for receiving a pre-scan image of the object; a camera system for capturing at least one image of the object; a processor, and an output, wherein said processor is adapted to: determine corresponding image features in the at least one image captured by the camera system and the pre-scan image; determine an image transformation that relates the corresponding image features to each other, such that the object as represented by the pre-scan image can be transformed by the transformation, or by its inverse, to the orientation, position and/or deformation of the object represented in the camera image; automatically and/or interactively plan the tomographic image acquisition, in which the pre-scan image is used to determine parameters of the image acquisition that at least include a scan range in one dimension; to output a signal, via said output, representative of the determined plan, wherein said pre-scan image comprises a three-dimensional tomographic surview scan image, wherein said camera system comprises a range camera, and/or comprises a plurality of cameras for imaging the object from a plurality of different viewpoints and a depth information processor to determine depth information from a plurality of images captured by said plurality of cameras, wherein the at least one image provided to the processor comprises three-dimensional information. an input for receiving a pre-scan image of the object; a camera system for capturing at least one image of the object; a processor, and an output, wherein said processor is adapted to: determine corresponding image features in the at least one image captured by the camera system and the pre-scan image; determine an image transformation that relates the corresponding image features to each other, such that the object as represented by the pre-scan image can be transformed by the transformation, or by its inverse, to the orientation, position and/or deformation of the object represented in the camera image; automatically and/or interactively plan the tomographic image acquisition, in which the pre-scan image is used to determine parameters of the image acquisition that at least include a scan range in one dimension; to output a signal, via said output, representative of the determined plan, wherein said pre-scan image comprises a three-dimensional tomographic surview scan image, determine corresponding image features in the at least one image captured by the camera system and the pre-scan image; determine an image transformation that relates the corresponding image features to each other, such that the object as represented by the pre-scan image can be transformed by the transformation, or by its inverse, to the orientation, position and/or deformation of the object represented in the camera image; automatically and/or interactively plan the tomographic image acquisition, in which the pre-scan image is used to determine parameters of the image acquisition that at least include a scan range in one dimension; to output a signal, via said output, representative of the determined plan, wherein said pre-scan image comprises a three-dimensional tomographic surview scan image, wherein said camera system comprises a range camera, and/or comprises a plurality of cameras for imaging the object from a plurality of different viewpoints and a depth information processor to determine depth information from a plurality of images captured by said plurality of cameras, wherein the at least one image provided to the processor comprises three-dimensional information.