Cameras are having a large impact on our society, every cell-phone is equipped with a camera and in the very near future all cars will feature cameras to improve traffic safety and even clothing will be equipped with integrated cameras. While cameras are continuing to pervade our daily lives, optics developers are working on increasing the field of view of the cameras. If the field of view of a camera exceeds 180 degrees, it is called an omnidirectional camera. Up until three years ago, these cameras were too heavy, expensive, and bulky to be integrated in commercial products. However today, omnidirectional cameras have become sufficiently small to be installed in cars and even carried on small lightweight helicopters. The market of these cameras is increasing and accordingly, the demand for software that enables their use in the real world is rising. In this talk, I will present how to combine omnidirectional vision and robotics in two applications: ground robots and micro aerial vehicles. After a brief overview on omnidirectional vision, I will show some result on vehicle motion estimation for ground vehicles and autonomous flight of micro helicopters by just using a single miniature omnidirectional camera a sole input.