The 3-D reconstruction of an environment with high accuracy and real textures represents an important challenge for applications related to multimedia and cinematography. The complete development, from electronic design to algorithmic restitution of the environment, of a multispectral omnidirectional stereoscopic sensor that tackles this problem is presented. Although panoramic sensors exist, the vision system presented here has four channels of acquisition coupled to a projector of structured light emitting in the infrared. This original process separates the acquisition of color images from 3-D reconstruction. The panoramic color images are corrected using the International Color Consortium profile applied to images coming from the two cameras. The reconstruction of the environment uses only the information available in the infrared channel. An active calibration technique is also presented. Experimental results demonstrate the feasibility of this new class of multispectral omnidirectional sensors.