The optical scanner comprises a light source, an image sensor, a planar array of elongate optical waveguides, and input and output coupling optics for communicating light to and from the image transmission optics. The light source is adapted to direct light toward and reflect light from an object to be scanned. The planar array of elongate optical waveguides is formed in a substrate. Each of the waveguides include an input end and an output end and can be tapered along the length of the waveguide. The input optics disposed between the object and the waveguide array can include tubes, single lenses per waveguide, larger lenses per cluster of waveguides, a GRIN lens array or comparable mirror systems for directing light reflected from the object to be scanned to the input ends of the waveguides. The output optics disposed between the waveguide array and the image sensor can include lenses or mirror systems similar to that used for the input coupling optics.