An imager for optical tomography was designed based on a detector with 128x128 single-photon pixels that included a bank of 32 time-to-digital converters. Due to the high spatial resolution and the possibility of performing time resolved measurements, a new contact-less setup has been conceived in which scanning of the object is not necessary. This enables one to perform high-resolution optical tomography with much higher acquisition rate, which is fundamental in clinical applications. The setup has a resolution of 97ps and operates with a laser source with an average power of 3mW. This new imaging system generated a high amount of data that could not be processed by established methods, therefore new concepts and algorithms were developed to take full advantage of it. Images were generated using a new reconstruction algorithm that combined general inverse problem methods with Fourier transforms in order to reduce the complexity of the problem. Simulations show that the potential resolution of the new setup is in the order of millimeters. Experiments have been performed to confirm this potential. Images derived from the measurements demonstrate that we have already reached a resolution of 5mm.