When multiple diverging rays from a source enter our eye (or a camera lens, or whatever), our eye expects those rays to be coming from a single location. It traces those rays backward until it finds a point where they seem to be coming from, and decides that that must be the location of the object. Rays which are diverging more are seen to come from a closer source, which rays which are diverging less (and are closer to parallel) are seen to come from a more distant source.
If something redirects the rays of light from a source before they reach our eye, however, then our eyes can be fooled into thinking that the object is somewhere other than it really is. We say that our eye sees an image of that object at the new location.