3.1 Mathematical Fundamentals3.2 Central Projection: World into Image Plane3.3 Classification of Panoramas3.4 Coordinate Systems for Panoramas3.5 Geometric Projection Formula for Cylindrical Panorama3.6 Rotating Cameras3.7 Mappings between Different Image Surfaces3.8 Laser Range-Finder3.9 Exercises3.10 Further Reading