Tomas Pajdla:

 Omnidirectional Vision

(catadioptric & dioptric)

Omnidirectional central cameras may see two different scene points on a single line through the center.

See presentation:

Omnidirectional Vision Course @ ICCV 2003  
(epipolar geometry estimation of  dioptric & catadioptric omnidirectional cameras, stereo geometry of non-central cameras)

for elements of theory of multiple view geometry of omnidirectional cameras. References and links 
to papers can be found at T.Pajdla's homepage: