Lenses can be either convex or concave depending on their thickness. A convex lens is thicker in the center and converges light rays, forming a real or virtual image. A concave lens is thinner in the center and diverges light rays, always forming a virtual image. The location and properties of an image formed by a lens depends on the position of the object relative to the lens's focal points, which can be determined using lens formulas and ray diagrams. Lenses are used in optical systems to focus and manipulate light in applications like cameras, microscopes, and eyeglasses.