A vehicle imaging system includes an imaging array sensor having a field of view directed outwardly from the vehicle and toward an external scene, first and second optic elements, and a control responsive to an output of the imaging array sensor. The imaging array sensor has at least first and second portions, with the first optic element positioned along a first optic path between the first portion of the imaging array sensor and the external scene, and the second optic element positioned along a second optic path between the second portion of the imaging array sensor and the external scene. The control processes the output and distinguishes the first image and the second image in order to identify objects of interest in the external scene. The control generates a control output in response to the processing.