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We present a new method to calibrate panoramic catadioptric sensors. Whilemany methods exist for planar cameras, it is not the case for panoramiccatadioptric sensors. The aim of the proposed calibration is not to estimatethe mirror surface parameters which can be known very accurately, but toestimate the intrinsic parameters of the CCD camera and the pose parametersof the CCD camera with respect to the catadioptric mirror. Unless atelecentric lens is used, this pose must be estimated, particularly forsensors that have a unique effective view point. The method we develop isbased on the original and simple idea that the mirror external and internalboundaries can be used as a 3D calibration pattern. The improvement of usingcalibrated camera with our approach is demonstrated on synthetic experimentswith incorrectly aligned sensors and validation tests on real images aredescribed. The proposed technique open a new ways for better designedcatadioptric sensors where self-calibration can be easily performed inreal-time in a completely autonomous way. In particular this should allow toavoid errors due to vibrations one can noticed when using catadioptricsensors in practical situations.