A master-slave camera surveillance system is composed of one(or more) wide FOV(field of view) static camera and one(or more) dynamic PTZ(Pan-Tilt-Zoom) camera. In such a system, master camera monitors a wide field and provides positional information of interesting objects to slave camera so that it can dynamically track them. This paper describes a novel method for the calibration of master-slave surveillance. The method uses a mosaic image created by snapshots of slave camera to estimate the relationship between static master camera plane and pan-tilt controls of slave camera. Compared with other ways, this solution provides an efficient and automatic way to calibration of a master-slave system.