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We present a large-format, sub-millimeter-resolution, real-time focal plane array sensor for THz imaging. Each pixel in sensor array consists of THz antennas monolithically integrated with ultra-fast heterostructure backward diodes. The antennas are optimized for diffraction limited image resolution and conjugate impedance match for highest THz sensitivity. The camera is designed to cover the 0.6-1.2 THz band with real-time (60 Hz) image acquisition speeds, making it ideal for a wide range of THz imaging applications such as biomedical imaging, security screening, non-destructive evaluation, and chemical spectroscopy.