This　paper　presents　a　new　system　for　rapidly　acquiring　stereo　images　using　a　single　camera　and　a　pair　of　planar　minors　(catadioptric　stereo).　Firstly,　the　camera　used　to　capture　images　is　calibrated　with　matlab　toolbox.　Secondly,　the　position　and　pose　of　the　planar　mirrors　relative　to　the　fixed,　calibrated　camera　is　estimated,　and　this　procedure　is　accomplished　by　calculating　the　symmetry　plane　of　the　real　and　reflected　image　corners　of　a　chessboard.　Thirdly,　the　relative　orientation　of　two　reflected　virtual　cameras　is　obtained.　Finally,　Gaussian　noise　is　added　to　the　image　corners　of　the　chessboard　to　verify　the　performance　of　the　established　stereo　system.　Experimental　results　show　the　effectiveness　and　robustness　of　our　system.