全方位视觉由于其视角较传统视觉大而在机器人、视觉监控、多媒体等领域得到广泛应用。反射折射式全方位视觉由于采用一次成像，水平视角较大，得到广泛而深入的研究。另一方面，由于空间点经过镜面反射之后再进入摄像机成像，导致图像畸变且图像分辨率较低，使得在进行三维重构时的精度较低。-The full range of visual perspective than the traditional visual in the field of robotics, visual surveillance, multimedia, and other widely used. Catadioptric omnidirectional vision using an imaging, horizontal viewing angle is large, broad and in-depth study. On the other hand, due to the space point of re-entering after specular reflection imaging of the camera, resulting in image distortion and low resolution images during the three-dimensional reconstruction accuracy is low.