A system for bi-directional data transmission includes a first array coupled to a first subsystem and a second array coupled to a second subsystem. The first array includes a first plurality of transmitters that produce first optical signals that are transmitted through free space, and a first plurality of receivers. The second array includes a second plurality of transmitters that produce second optical signals that are transmitted through free space to the first plurality of receivers, and a second plurality of receivers that is configured to receive the first optical signals. An image-forming apparatus is operatively positioned between the first and second arrays and is configured to concurrently form an image of the first plurality of transmitters on the second plurality of receivers and an image of the second plurality of transmitters on the first plurality of receivers.