Omnidirectional vision is widespread in the field of mobile robotics. The characteristics of these optics are also useful for applications in the field of automotive driver assistance systems. We have set up a first prototype of a backup aid system which is based on omnidirectional optics. The talk presents the evolution of the system, some results and an outlook on future work. (Beside that, I will give a short overview about the current mainstream work at the Machine Perception department in Ulm).