Vehicle guidance camera with zoom lens

A guidance camera deployed on a vehicle may be equipped with a zoom lens configured to change a zoom level of the guidance camera. The zoom level may be changed in response to a scenario performed by a vehicle equipped with the guidance camera, vehicle controls issued by a vehicle controller, and/or based on identification of objects in imagery captured by the guidance camera. The zoom lens may be implemented as a lens array that includes different lenses, as a wheel lens array that includes different lenses, or by a light direction device that guides light from a specific lens of different lenses into the guidance camera. Stereo cameras may be configured with the zoom lenses, and may be repositioned to ensure suitable overlap in a field of view to enable calculation of a distance of objects captured in the imagery of the stereo camera.