In order to expand the field of view of the mirror binocular vision sensor, it is an effective scheme to replace planar mirror with spherical mirror. However, the reflection imaging with convex mirror will lead to the decline of image quality and sharpness, so the optical characteristics of binocular vision sensor for single camera mirror are studied. Taking the off-axis non-central spherical mirror as the research object, the imaging models with different optical characteristics are established. The effects of spherical mirror parameters on field range, resolution, and depth of field are quantitatively analyzed by simulation and experiment. The design method of double spherical mirror parameters is given under the condition of industrial camera and optical lens parameters. A vision sensor based on single camera and double spherical mirror is constructed, which can realize mirror binocular vision imaging. By analyzing the optical characteristics of the vision sensor based on spherical mirror reflection, it provides a basis for the design of a new mirror binocular vision sensor.