Omnidirectional visual system, image processing method, control program, and readable recording medium

An omnidirectional visual system comprising:

• an omnidirectional camera for capturing an image based on image light which is obtained by collecting light reflected by a hyperboloidal mirror;
• and
• an image processing section for creating, based on input image data obtained by the omnidirectional camera, perspective projection image data for display which represents a perspective projection image in which a projection center is located at a focal point of the hyperboloidal mirror,
• wherein the omnidirectional camera is provided such that an optical axis thereof is inclined with respect to a vertical axis by a prescribed angle,
• wherein the image processing section include a coordinate rotation processing section for rotating three-dimensional coordinates, which indicate each point on the perspective projection image, by an angle of inclination of the optical axis along a direction opposite to a direction of inclination of the optical axis with respect to the vertical axis, thereby obtaining new three-dimensional coordinates, and
• wherein the image processing section creates perspective projection image data for display capable of horizontally displaying the perspective projection image.