Catadioptric omnidirectional system with un-distorted imaging for horizontal scene

A complete method based on the perspective-imaging model is established to design catadioptric omnidirectional systems with un-distorted imaging for horizontal scene. A mirror has been designed, and a catadioptric omnidirectional system with un-distorted imaging for horizontal scene has been developed. The image taken by this catadioptric omnidirectional system is compared with the real image taken by hyperboloidal omnidirectional system and its perspective omnidirectional image.