The invention discloses a multi-sensor-based vehicle-mounted environment recognition system. The system comprises an omni-directional vision module, an IMU module, a GPS module, a radar module and a data fusion module, wherein the omni-directional vision module is used for acquiring environment three-dimensional information in a 360-degree range around a vehicle, the IMU module is used for acquiring accelerated speed and angular speed information of the vehicle, the GPS module and the IMU module jointly work to acquire position and posture information of the vehicle, the radar module is used for acquiring front target position information of the vehicle and has the characteristics of all weather and all time, and the data fusion module is used for fusing environment information acquired by each sensor to more accurately recognize a vehicle driving environment. The invention further discloses an omni-directional vision module, which utilizes each stepping motor to control a corresponding binocular camera to perform a pitching motion in order to acquire omni-directional scene images of an observed environment; and an image processing module is used for in real time collecting and processing scene images acquired by each group of the binocular cameras.