A tetrahedron beam computed tomography system including an x ray source array that sequentially emits a plurality of x ray beams at different positions along a scanning direction and a collimator that intercepts the plurality of x-ray beams so that a plurality of fan-shaped x-ray beams emanate from the collimator towards an object. The system includes a first detector receiving a first set of fan-shaped x ray beams after they pass through the object, the first detector generating a first imaging signal for each of the received first set of fan-shaped x-ray beams and a second detector receiving a second set of fan-shaped x ray beams after they pass through the object, the second detector generating a second imaging signal for each of the received second set of fan-shaped x-ray beams. Each detector and source pair form a tetrahedral volume. In other embodiments, the system may also have more than two detectors arrays and/or more than one source array. Each pair of source array and detector array forms a tetrahedral volume. Using multiple detector arrays and source arrays can increase field of view, reduce the length of detector and source arrays so that the imaging system is more compact and mobile.