A complete method based on perspective imaging model is established to design catadioptric omnidirectional system with undistorted imaging for horizontal scene. The approximate perspective imaging characteristics about this imaging system is analyzed. A mirror has been designed, and a catadioptric omnidirectional system with undistorted imaging for horizontal scene has been developed. The image taken by this catadioptric omnidirectional system is compared with the real image taken by hyperboloidal omnidirectional system and its perspective omnidirectional image.