Some important theoretical issues of catadioptric omnidirectional systems for the spherical mirror are researched.

摘要对折反射全向视觉系统的某些理论问题进行了研究。

Four examples of catadioptrics are given to help understand the concepts of matrix method and master the formulae.

文通过四个应用实例的计算,有助于掌握矩阵方法的基和公式的运用。