A frequency-scanned antenna is designed to achieve range, azimuth and elevation 3D imaging. The frequency-scanned antenna is the combination of substrate integrated waveguide (SIW) slot array and planar array antenna. Angle and range information can be obtained using a single frequency-scanned antenna. So the azimuth and elevation information can be obtained respectively with two orthogonal frequency-scanned antennas in the horizontal and vertical direction. Based on the captured range, azimuth and elevation information, a 3D scenario can be constructed. The frequencyscanned antennas working in the range of 24 to 25.6 GHz have been fabricated, and imaging experiments on different scenarios have been carried out.