Omnidirectional multi-camera systems cannot capture entire fields of view because of their inability to view areas directly below them. Such invisible areas in omnidirectional video decrease the resulting realistic sensation experienced when using a telepresence system. In this study, we generate omnidirectional video without invisible areas using an image completion technique. The proposed method compensates for the change in appearance of textures caused by camera motion and searches for appropriate exemplars considering three-dimensional geometric information. In our experiments, the effectiveness of our proposed method has been demonstrated by successfully filling in missing regions in real video sequences captured using an omnidirectional multi-camera system.