An optical system comprises an imaging arrangement (1′, 1″) that transmits an image to an image plane; a sensor; and one or more locator elements that locate the imaging arrangement (1′, 1″) to provide the image on the sensor. Tolerances of the locator element(s) allow a lateral translation and a rotation of the imaging arrangement (1′; 1″) around a nominal rotation point. A parameter of the optical system is selected such that a movement, resulting from either the lateral translation or the rotation, of an optical axis (OA) on the sensor is at least partly counteracted by a movement, resulting from either the lateral translation or the rotation, of the image on the sensor with respect to the optical axis (OA). Thereby, the optical system is wholly or partly self-compensating with respect to tolerances affecting the angular position or the lateral position of the imaging arrangement.