Combined with the characteristics of catadioptric omnidirectional imaging, the method of image restoration for catadioptric defocus blur based on omni-total variation minimization is proposed. The problem of catadioptric omnidirectional imaging defocus blur, which is caused by lens aperture and mirror curvature, becomes more severe when high resolution sensors and large apertures are applied. In the catadioptric omnidirectional image, the two points near each other do not have the relation in true scene. So the traditional gradient computation cannot fit catadioptric omnidirectional image processing. The omni-gradient computing method combined with the characteristics of omnidirectional imaging is proposed. Then, the omni-total variation minimization is used as the condition of deconvolution regularization, which is used for the defocus blur omnidirectional image restoration to obtain all sharp omnidirectional images.