Plane mirrors form virtual images that are laterally inverted and the same distance behind the mirror as the object is in front of it. Curved mirrors can be either concave or convex. Concave mirrors produce real or virtual images depending on the position of the object, while convex mirrors only produce virtual images. Lenses can be either converging or diverging. Converging lenses are thicker in the middle and can form real or virtual images, while diverging lenses are thicker on the edges and always form virtual images.