The disclosed subject matter relates to providing panoramic stereo vision captured with a single camera scheme employing a catadioptric optical path. In an aspect the presently disclosed subject matter can capture a stereo image over a full 360-degree horizontal field of view or portions thereof. Further, the vertical FOV is enlarged compared to conventional cata-fisheye schemes. A system according to the instant subject matter can be calibrated with a computational model that can accommodate a non-single viewpoint imaging model to conduct 3D reconstruction in Euclidean space.