The invention discloses a 360-degree panorama image generation method based on a single pick-up head, mainly for solving the problem that four pick-up heads are needed for a conventional method for realizing a vehicle-mounted 360-degree panorama image. The method provided by the technical scheme comprises the following steps: 1, through calibration of a camera, solving a homography conversion matrix M for converting an image into a top view; 2, converting each frame of the image into the top view, and performing feature point detection and matching on the top view after conversion of each frame; 3, solving a rotation matrix and a translation vector between two adjacent frames, and realizing splitting of the top view; and 4, determining whether shooting stops, if the shooting does not stop, returning to the second step, if the shooting stops, stopping circulation, and after a vehicles runs a distance greater than one vehicle body, obtaining a 360-degree dynamic panorama image around the vehicle. The method provided by the invention has the advantages of low cost and simple installation, realizes the function of obtaining the 360-degree panorama image by use of the single pick-up head, is high in robustness, and can be applied to observation of circumstances around the vehicle during driving or parking.