Abstract: In order to avoid the enforcement of the single-viewpoint constraint and to improve the reconstruction accuracy,a new omni-directional depth estimation system with single-double paraboloid mirrors is proposed.At first,the difficulty of manufacturing a real single-viewpoint system in practice is illustrated,and the feasibility of our proposed approach is proved.The detailed system design is then presented,and formulations of depth estimation from images reflected by single and double conicoid mirrors are investigated.Finally the system parameters are optimized to make sure the error rate of depth estimation usually lies within 2%.This system can not only obtain depth of 360° field of view via omni-directional stereo technique by the double-mirror configuration,it also can locate space lines based on single omni-directional image captured with the single-mirror structure.Our proposed system could be used for various applications such as photogrammetry,3D reconstruction,and robot navigation.