A planar distance and velocity sensor based on a hybrid combination of a light source and a single CMOS photodetector/analog/digital chip is presented. The specific shape of the photodetector calculates a nonlinear geometrical correction purely optically. Hence, electronic data processing is reduced to a minimum, and it can be performed in the analog domain, on the same CMOS chip where the photodetector is placed. Since the (analog) distance and velocity signals are generated simultaneously, the device is particularly useful for time-to-contact measurements. >