A method is put forward for designing hyperboloidal catadioptric omnidirectional imaging system. The re projection formulae about this kind of system are derived,thereby the coordinate mapping between virtual image plane and real image plane is established, which offer a essential model and a calculational method to deal with video image. According to this omnidirectional imaging system design method, a hyperboloidal mirror is developed,and a hyperboloidal catadioptric omnidirectional imaging system is established.