与传统的利用立体视觉原理进行3维重建不同，在研究基于单幅全向图像重建空间水平直线问题的基础上，首先指出基于直线在全向图中的两个像点即可重建该水平直线，然后通过分析和推导空间水平直线在全向成像系统中的成像特点，有效简化了全向图中的水平直线检测；针对现有“四点定位”方法的不足，提出了一种基于“主像点/非主像点”的水平直线重建算法，并详细分析了像点提取精度对直线重建结果的影响。实验表明，在不同的像点提取精度下，对于不同空间水平直线，该重建算法均能取得较好结果。

Differ from traditional 3D reconstruction via stereo vision, this paper studies the reconstruction of straight horizontal lines in 3D space from single 2D omni-directional images. It demonstrates that, for symmetric non-central catadioptric systems, the equation of a 3D horizontal line can be estimated using only two points extracted from its image . By exploiting the peculiar property of horizontal line image in catadioptric system, line detection from single omni-directional image can be simplified. Meanwhile, a horizontal line reconstruction algorithm based on main-point image and non-main-point image is developed. Detailed experiments justify that, under the same precision of image point extraction, compared to present primary approaches of reconstruction from four image points, our methods is more straightforward and accurate.