To obtain information on the outer surface of a cylinder object, we propose a catadioptric panoramic imaging system based on the principle of uniform spatial resolution for vertical scenes. First, the influence of the projection-equation coefficients on the spatial resolution and astigmatism of the panoramic system are discussed, respectively. Through parameter optimization, we obtain the appropriate coefficients for the projection equation, and so the imaging quality of the entire imaging system can reach an optimum value. Finally, the system projection equation is calibrated, and an undistorted rectangular panoramic image is obtained using the cylindrical-surface projection expansion method. The proposed 360-deg panoramic-imaging device overcomes the shortcomings of existing surface panoramic-imaging methods, and it has the advantages of low cost, simple structure, high imaging quality, and small distortion, etc. The experimental results show the effectiveness of the proposed method.