To enable an image with no blind spot area to be obtained while ensuring a wide field of view, an omnidirectional imaging system includes: a primary mirror (101) including a hyperbolic mirror; a plurality of secondary mirrors (102) arranged around the primary mirror and each including a hyperbolic mirror; and a camera (104) that captures an image reflected by the primary mirror and images reflected by the plurality of secondary mirrors. A hyperboloid of the primary mirror and hyperboloids of the plurality of secondary mirrors have a substantially coincident outer focal point, and the camera (104) is placed so that a viewpoint of the camera substantially coincides with the outer focal point of the hyperboloid of the primary mirror (101) and the hyperboloids of the plurality of secondary mirrors (102), the viewpoint of the camera being an entrance pupil position of a lens attached to the camera (104).