Customer wide angle lenses and methods and apparatus for using such lenses in individual cameras as well as pairs of cameras intended for stereoscopic image capture are described. The lenses are used in combination with sensors to capture different portions of an environment at different resolutions. In some embodiments ground is capture at a lower resolution than sky which is captured at a lower resolution than a horizontal area of interest. Various asymmetries in lenses and/or lens and sensor placement are described which are particularly well suited for stereoscopic camera pairs where the proximity of one camera to the adjacent camera may interfere with the field of view of the cameras.