A single image sensor including an array of uniformly and continuously spaced light-sensing pixels in conjunction with a plurality of lenses that focus light reflected from an object onto a plurality of different pixel regions of the image sensor, each lens focusing light on a different one of the pixel regions enables a controller, including a processor and an object detection module, coupled to the single image to analyze the pixel regions, to generate a three-dimensional (3D) image of the object through a plurality of images obtained with the image sensor, generate a depth map that calculates depth values for pixels of at least the object, detect 3D motion of the object using the depth values, create a 3D model of the object based on the 3D image, and track 3D motion of the object based on the 3D model.