An optical swiveling device is specified for imaging and/or projection of an object scene, having a supporting structure, having a detection/transmission unit arranged in the supporting structure, having a pitch frame and having a roll frame, with the pitch frame being mounted in the roll frame such that it can rotate about a pitch axis and with the roll frame being mounted in the supporting structure such that it can rotate about a roll axis. In this case the pitch axis and the roll axis intersect at an intersection angle of less than 90°. First deflection optics are arranged in the pitch frame such that a beam propagating along the pitch axis is deflected in an object-side direction which intersects the pitch axis at the intersection angle, and vice versa, and second deflection optics are arranged in the roll frame such that a beam propagating along the pitch axis is deflected in the direction along the roll axis, and vice versa.