In this study, we developed a telepresence smoke detection system, with which personnel in a control center can learn about the relative positions of firefighters and fire sources at a fire scene. Using an omnidirectional projecting system, such personnel can communicate with firefighters and assist them in shortening the time required for fire suppression. Conventional smoke detection systems rely heavily on multiple surveillance cameras and smoke detectors. However, conventional cameras in such systems are unable to take 360° images unless multiple cameras are installed to monitor the entire fire scene. In addition, detectors are easily damaged at high temperatures. In this study, we employed an omnidirectional camera to take images of a fire scene elsewhere and sent these images back to the control center through WiFi transmission. An omnidirectional projecting system was then used to present the obtained real-time fire scene images on a 360° cylindrical projection screen. Finally, the Lucas–Kanade optical flow algorithm was used to accurately mark the fire source location. The proposed telepresence smoke detection system can present a complete fire scene and determine the accurate location of a fire source, allowing the emergency response center to provide precise information for on-site firefighters to shorten the time needed for fire suppression and increase the escape time.