An imaging device comprising a plurality of linear imaging arrays and image formation optics that provide field of views corresponding to the plurality of linear image arrays. At least one illumination module produces planar light illumination that substantially overlaps the field of views corresponding to the plurality of linear imaging arrays. Image processing circuitry performs image-based velocity estimation operations on composite 2-D images derived from sequential image capture operations. Velocity data is derived that represents an estimated velocity of the imaging device with respect to at least one target object disposed in the fields of view. The image processing circuitry also performs image transformation operations (or camera control operations) which are based upon the velocity data, to compensate for aspect ratio distortions in captured images that would otherwise result from variations in velocity of the imaging device with respect to the target object(s).