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We discuss surrounding depth measurement method using omni-directional cameras and projectors. In this paper, we use two omni-directional cameras to take images of patterns, and estimate distances from cameras to objects by the stereo method. As the pattern for projection to distinguish corresponding points between cameras, we employ the phase shifting method, because this method can obtain corresponding points with high resolution. We also discuss methods to correct coordinates of corresponding points caused by properties of omni-directional cameras. As results of experiments, we can show effectiveness of proposed method by measuring 3D depth.