An imaging device for capturing images of a scene comprising: an imager, the imager comprising: an asymmetric sensor array (110, 410) having within a single die or substrate a main sensor (112, 412) and two or more peripheral sensors (118, 418), wherein the main sensor (112, 412) has a main resolution and is angled at a main angle relative to an object of the scene and the two or more peripheral sensors (118, 418) have peripheral resolutions being asymmetric to the main resolution by having at least one of a different number of pixels, different color-sensing of pixels, different size of pixels or different sensor size and are positioned at peripheral angles relative to the object of the scene different from the main angle of the main sensor (112, 412); and a lens stack for each of the main and peripheral sensors (112, 412, 118, 418); one or more computer processors (504, 408); and one or more computer-readable storage media having instructions stored thereon that, responsive to execution by the one or more computer processors, implements an image manager capable of performing operations comprising: receiving, from the main sensor (112, 412), sensor data, the sensor data including a high-resolution, monochromatic image of a scene; receiving, from the peripheral sensors (118, 418), peripheral sensor data, the peripheral sensor data including multiple low-resolution color images of the scene, at least one of the multiple low-resolution color images being sensed at an angle different than an angle of reception of the sensor data of the main sensor (112, 412); determining, based on at least one of the multiple low-resolution color images of the scene being sensed at different angles from the main sensor and on the monochromatic high-resolution image of the same scene, being sensed by the main sensor, a depth map; and constructing a final image using the low-resolution color images, the depth map, and the monochromatic high-resolution image. an imager, the imager comprising: an asymmetric sensor array (110, 410) having within a single die or substrate a main sensor (112, 412) and two or more peripheral sensors (118, 418), wherein the main sensor (112, 412) has a main resolution and is angled at a main angle relative to an object of the scene and the two or more peripheral sensors (118, 418) have peripheral resolutions being asymmetric to the main resolution by having at least one of a different number of pixels, different color-sensing of pixels, different size of pixels or different sensor size and are positioned at peripheral angles relative to the object of the scene different from the main angle of the main sensor (112, 412); and a lens stack for each of the main and peripheral sensors (112, 412, 118, 418); an asymmetric sensor array (110, 410) having within a single die or substrate a main sensor (112, 412) and two or more peripheral sensors (118, 418), wherein the main sensor (112, 412) has a main resolution and is angled at a main angle relative to an object of the scene and the two or more peripheral sensors (118, 418) have peripheral resolutions being asymmetric to the main resolution by having at least one of a different number of pixels, different color-sensing of pixels, different size of pixels or different sensor size and are positioned at peripheral angles relative to the object of the scene different from the main angle of the main sensor (112, 412); and a lens stack for each of the main and peripheral sensors (112, 412, 118, 418); one or more computer processors (504, 408); and one or more computer-readable storage media having instructions stored thereon that, responsive to execution by the one or more computer processors, implements an image manager capable of performing operations comprising: receiving, from the main sensor (112, 412), sensor data, the sensor data including a high-resolution, monochromatic image of a scene; receiving, from the peripheral sensors (118, 418), peripheral sensor data, the peripheral sensor data including multiple low-resolution color images of the scene, at least one of the multiple low-resolution color images being sensed at an angle different than an angle of reception of the sensor data of the main sensor (112, 412); determining, based on at least one of the multiple low-resolution color images of the scene being sensed at different angles from the main sensor and on the monochromatic high-resolution image of the same scene, being sensed by the main sensor, a depth map; and constructing a final image using the low-resolution color images, the depth map, and the monochromatic high-resolution image. receiving, from the main sensor (112, 412), sensor data, the sensor data including a high-resolution, monochromatic image of a scene; receiving, from the peripheral sensors (118, 418), peripheral sensor data, the peripheral sensor data including multiple low-resolution color images of the scene, at least one of the multiple low-resolution color images being sensed at an angle different than an angle of reception of the sensor data of the main sensor (112, 412); determining, based on at least one of the multiple low-resolution color images of the scene being sensed at different angles from the main sensor and on the monochromatic high-resolution image of the same scene, being sensed by the main sensor, a depth map; and constructing a final image using the low-resolution color images, the depth map, and the monochromatic high-resolution image.