Omnidirectional catadioptric sensors are widely used in different applications as they allow the observation of a 360 field of view instantaneously. Their specific architecture necessarily induces carrying devices which obstruct the field of view of the sensor. This drawback can be a major obstacle to their use. This paper outlines a methodoly to inpaint catadioptric omnidirectional images, that means to remove and repair a part of the image. This method combines a multi-scale image inpainting (MII) algorithm with unwrapping techniques as the MII can not be applied in the omnidirectional image directly. © 2013 IEEE.