Conventional optical imaging systems suffer from the presence of many imperfections, such as spherical aberrations, astigmatism, or coma. If the imaging system is corrected for spherical aberrations and fulfills the Abbe sine condition, perfect imaging is guaranteed between two parallel planes but only in a small neighborhood of the optical axis. It is therefore worth asking for optical systems that would allow for perfect imaging between arbitrary smooth surfaces without restrictions in shape or extension. In this Letter, we describe the application of transformation optics to design refractive index distributions that allow perfect, aberration-free imaging for various imaging configurations in $R^n$ . A special case is the imaging between two extended parallel lines in $R^2$ , which leads to the well-known hyperbolic secant index distribution that is used for the fabrication of gradient index lenses.