为解决折反射全向成像空间分辨率低、分辨率分布不均匀的问题,提出一种双反射面互补结构的折反射全向成像系统。通过使空间点在全向图的内外环互补二次成像,有效改善全向成像的分辨率分布不均匀问题,并通过限制成像系统的垂直视域以得到较高的空间采样分辨率。详细阐述了两个反射镜面的面型参数和系统尺寸的计算方法,并通过光线追踪推导出全向图与柱面全景图之间的坐标映射关系。实验结果表明,该全向成像系统的分辨率分布明显更为均匀,全向图内外环之间存在很强的互补性。此外,互补二次成像的亚像素采样偏移为下一步的超分辨率柱面全景空间重建奠定了重要基础。 In order to solve the problem of low resolution and uneven resolution distribution of the catadioptric omnidirectional imaging system, a catadioptric omnidirectional imaging system with double reflecting surface complementary structure is proposed. The secondary imaging of inner and outer rings complementary to the omnidirectional image can effectively improve the problem of nonuniform distribution of the resolution of the omnidirectional image and achieve higher spatial sampling resolution by limiting the vertical viewing of the imaging system. The calculation methods of the surface parameters and the system dimensions of the two reflecting mirrors are elaborated in detail, and the coordinate mapping relationship between the omni-directional image and the cylindrical panoramic image is deduced by ray tracing. The experimental results show that the resolution distribution of the omnidirectional imaging system is obviously more uniform and there is a strong complementarity between the inner and outer rings of the omnidirectional image. In addition, the sub-pixel sampling offset of complementary secondary imaging lays an important foundation for the next step in the reconstruction of super-resolution cylindrical panoramic space.