A system and method for performing optical navigation uses an illumination optical element positioned between a light source and a navigation surface to bend and collimate a beam of light from the light source, which may be originally emitted in a direction normal to the navigation surface. The illumination optical element includes a concave surface to receive the beam of light from the light source and a convex surface to transmit the beam of light from the illumination optical element toward the navigation surface. The beam of light incident on the navigation surface produces light, which is received at an image sensor array to capture frames of image data for displacement estimation.