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Omnidirectional imaging is expanding its applicability by introducing a new imaging device, called Humanoid Machine Vision System (HMVS). It consists of two main parts: an imaging block such as the panoramic annular lens (PAL) that renders an omnidirectional panoramic view, and a so-called foveal lens. As a consequence, it is capable to highlight - even enlarge - a selected portion of its omnidirectional 360° visual field. In this regard, HMVS surpasses the capability of the human vision, which covers only a visual field of about 40°. New design principles for PAL are described, and the design criteria for the foveal lens are discussed. The HMVS with the newly designed PAL is suitable to perform long-range target distance measurement, especially, if combined with GPS. An overview of how long-range imaging and target pinpointing could be achieved is presented.