A camera system includes an image sensor, a stop aperture, an infrared cut filter disposed between the image sensor and the stop aperture, and a lens assembly. The lens assembly has a field of view ranging between 80 degrees and 110 degrees and is disposed between the infrared cut filter on an image side of the lens assembly and the stop aperture on an object side of the lens assembly. The lens assembly includes six lenses. Four of the six lenses have positive optical power and two of the six lenses have negative optical power. The six lenses include first, second, third, fourth, fifth, and sixth lenses having first inline, second inline, third inline, fourth inline, fifth inline, and sixth inline relative positions, respectively, along an optical path through the lens assembly.