Panoramic imaging system

A panoramic annular lens for projecting a spherical field of view onto a two-dimensional annular format, the panoramic annular lens comprising:

• a body;
• a first refractive surface configured to collect input light rays from a predetermined angular range measured from a plane intersecting the first refractive surface and to refract the input light rays to obtain first refracted light rays, the predetermined angular range is +35° to −28°;
• a first reflective surface configured to reflect the first refracted light rays to obtain first reflected light rays;
• a second reflective surface configured to reflect the first reflected light rays to obtain second reflected light rays;
• and
• a second refractive surface configured to refract the second reflected light rays to obtain output light rays in the two-dimensional annular format.

An imaging system for recording images of an illuminated scene, the imaging system comprising:

• a panoramic annular lens including:
• a body;
• a first refractive surface configured to collect input light rays from the illuminated scene and to refract the input light rays to obtain first refracted light rays;
• a first reflective surface configured to reflect the first refracted light rays to obtain first reflected light rays;
• a second reflective surface configured to reflect the first reflected light rays to obtain second reflected light rays;
• a second refractive surface configured to refract the second reflected light rays to obtain output light rays, the first and second refractive surfaces and the first and second reflective surfaces coaxially aligned with each other along a PAL axis;
• and
• an optical sensor offset the PAL axis and configured to collect the output light rays and to convert the output light rays into sensor signals or current.