What is the difference between EF and EF-S lenses in terms of compatibility and performance?

EF lenses are compatible with both full-frame and APS-C sensor cameras, while EF-S lenses are only compatible with APS-C sensor cameras. In terms of performance, EF lenses generally offer higher image quality and are more versatile due to their compatibility with a wider range of cameras. EF-S lenses are more compact and lightweight, but may have limitations in terms of image quality and versatility.