1. A scene imaging method using a portable two-camera omni-imaging device for human-reachable environments, which is processed by a processor, comprising steps of: a two-camera omni-imaging device consisting of a first omni-camera and a second omni-camera respectively capturing an upper omni-image and a lower omni-image of at least one scene; performing image inpainting and image dehazing on said upper omni-image and said lower omni-image; performing image unwrapping on said upper omni-image and said lower omni-image by a pano-mapping table, so as to form an upper panoramic image and a lower panoramic image respectively, and said upper panoramic image and said lower panoramic image respectively have an upper part and a lower part overlapping each other; obtaining a data item on said upper part and said lower part by a plurality of view points of said scene and said pano-mapping table; and stitching said upper panoramic image and said lower panoramic image to form a total panoramic image according to said data.