Abstract: A panoramic imaging system is constructed to acquire panoramic images of a very large field of view. The field of view ranges from being nearly hemispherical, to being omni directional with some parts occluded. The panoramic imaging system is comprised of multiple imaging sensors, each imaging different parts of the field of view. The panoramic image is constructed by mosaicing the images taken by different sensors that share a common viewpoint. The resolution across the entire panoramic image is substantially the same. Specific embodiments of the camera provide specific combinations of features, such as different visual fields.