Abstract: A borehole instrument includes an image sensor for capturing images of an inside wall of a borehole. A borehole profile may also be measured by, for example, a laser. The same image sensor may be used for image capture and profile measurement. Different image sensors may be used for image capture and profile measurement. Image capture and profile measurement may be performed with reference to the same depth measurement, so that images and profiles are depth-aligned at capture. Orientation of the instrument within the borehole may also be measured to compensate for rotation of the instrument. A communications subsystem can transmit image data, profile data, and orientation data to a computer located outside the borehole for storage and analysis.