Research has recently shown that imagining intergroup contact can reduce hostility toward outgroups. The present experiment explored whether imagining intergroup contact leads to more positive perceptions of outgroups differentially stereotyped on the two fundamental dimensions of social perception, namely warmth and competence. Depending on the experimental condition, participants (N = 123) imagined either an intergroup encounter with an outgroup member rated as high (vs. low) on warmth and competence or an outdoor scene. Results showed that imagining an intergroup encounter enhances warmth and competence perception of dehumanized groups, and promotes the perception of warmth and competence of envied and paternalized groups, respectively. These findings suggest that imagined contact could promote positive intergroup relationships toward a wide range of social groups, even dehumanized groups.