Architecture for spatially calibrating a multi-sensor panoramic camera. A panorama warping calibration model and manufacturing calibration data is characterized in a parametric model that is stored on the camera and utilized for camera calibration. Calibration techniques can employ combinations of intra-camera homography, inter-camera homography, and polynomial warps, which correct the error-free spatial panorama warping calibration model. Calibration system configuration can include a stationary camera system for spatial pattern testing for each camera and a rotational camera system for rotating a multi-sensor panoramic camera through a single spatial pattern.