The invention relates to an active three-dimensional panoramic view vision sensor based on a full color panoramic view LED light source, which comprises an omnibearing vision sensor, a panoramic view optical generator with a colorful structure and a microprocessor for performing three-dimensional shooting measurement on an omnibearing image. The omnibearing vision sensor and the panoramic view optical generator with the colorful structure are arranged on the same axial lead; the omnibearing vision sensor comprises an image unit and a hyperboloid catadioptric unit; the panoramic view optical generator with the colorful structure comprises an LED optical generator unit with a colorful structure and a hyperboloid catadioptric unit; a hyperboloid catadioptric mirror surface and a hyperboloid refraction mirror surface have same image parameters; and the microprocessor comprises an LED light source control unit, a video image reading module, a special information calculation module and a three-dimensional image reconstruction module. The active three-dimensional panoramic view vision sensor can reduce the calculation, quickly finish the measurement, and has good real-time property and strong practicability.