How to convey the image of a 14 mm object through a thiner (8 mm) pipe?

My setup and constraints are the following (see figure below):

• A rectangular pipe (~50 mm long, section 8 mm).
• The pipe has an apperture at one of its end, which is larger than 14 mm.
• A 2D object (a sign) that can be represented as a segment of length 14 mm.
• The pipe can embed any number of optical element, as long as all of it fits into the 8 mm.
• At the other end of the pipe, there can be several complementary optical elements to restore the image, without any size constraints.
• A camera sensor (the size of the sensor does not matters here).

What I want to do is be able to convey the image of the object through the pipe, and obtain at the other end of the pipe an image that is not distorted (e.g. a change of apparent size is ok, but a tilted image is not.) and that can be retrieved on a camera sensor.

A simple mirror with a 45° angle (to reflect without distorsion), would be too close to the object to be able obtain the entire image of the object.

So far I have tried to use a tilted mirror, with a small angle which reflect rays coming from the object parallel to the pipe into a lens and then into the sensor, but then the image is tilted and cannot be focused entirely (the image plane is not perpendicular to the guide).
I have also tried to add a second mirror parallel to the first to correct the image plane, to no avail.
I was also thinking of a system of lenses at the entrance of the guide, to "compress" the image before reflecting the image into the pipe with a 45° angle so that there is no distorsion, but my intuition is that the optical system will be too big to fit the 8 mm constraint.

Has anybody an idea as to whether this is possible at all ?