A device (100; 200) for generating a depth-resolved three-dimensional representation of an object (120; 230; 510; 640) arranged to be transmissive between a radiation transmission device (110; 220; 320) and a radiation detection device (130; 210; 340), comprising: a first sub-system comprising a radiation transmission device; a second sub-system comprising a radiation detection device, configured to take transmission pictures, wherein the first sub-system comprises first manipulation means configured to move the radiation transmission device along a first travel path, and/or wherein the second sub-system comprises second manipulation means configured to move the radiation detection device along a second travel path, thereby allowing transmission pictures of the object to be taken from different perspectives, wherein the first sub-system and the second sub-system may be positioned relative to the object in a mutually independent manner; localization means (119, 121, 140; 500; 504; 506; 512; 514; 516; 530) configured to determine a position and location of the radiation transmission device and a position and location of the radiation detection device without using transmission pictures taken by the radiation detection device; and a computing device (150; 610) configured to generate the depth-resolved three-dimensional representation of the object based on the transmission pictures, wherein the computing device (150; 160) is configured to take into consideration the determined positions and locations when generating the depth-resolved three-dimensional representation of the object, and/or wherein a positioning device is provided, configured to adjust the position and location of the radiation transmission device and the radiation detection device relative to each other based on the detected positions and locations to a position and location required for generating the depth-resolved three-dimensional representation of the object, a holding device (260; 270; 310; 400; 410; 430; 520; 630) for the first sub-system and a holding device for the second sub-system, which are each configured to position the respective sub-system (109, 111) relative to the object, the holding devices being configured to attach the first and second sub-systems (109, 111) to the object. a first sub-system comprising a radiation transmission device; a second sub-system comprising a radiation detection device, configured to take transmission pictures, wherein the first sub-system comprises first manipulation means configured to move the radiation transmission device along a first travel path, and/or wherein the second sub-system comprises second manipulation means configured to move the radiation detection device along a second travel path, thereby allowing transmission pictures of the object to be taken from different perspectives, wherein the first sub-system and the second sub-system may be positioned relative to the object in a mutually independent manner; localization means (119, 121, 140; 500; 504; 506; 512; 514; 516; 530) configured to determine a position and location of the radiation transmission device and a position and location of the radiation detection device without using transmission pictures taken by the radiation detection device; and a computing device (150; 610) configured to generate the depth-resolved three-dimensional representation of the object based on the transmission pictures, wherein the computing device (150; 160) is configured to take into consideration the determined positions and locations when generating the depth-resolved three-dimensional representation of the object, and/or wherein a positioning device is provided, configured to adjust the position and location of the radiation transmission device and the radiation detection device relative to each other based on the detected positions and locations to a position and location required for generating the depth-resolved three-dimensional representation of the object, a holding device (260; 270; 310; 400; 410; 430; 520; 630) for the first sub-system and a holding device for the second sub-system, which are each configured to position the respective sub-system (109, 111) relative to the object, the holding devices being configured to attach the first and second sub-systems (109, 111) to the object.