Abstract: Methods and apparatus for mapping images obtained using a multiple-viewpoint imaging system are disclosed. According to one aspect of the present invention, a method for projecting an image using a panoramic imaging device which includes a first camera includes selecting a single viewpoint that is near a plurality of virtual viewpoints associated with the device. Once the single viewpoint is selected, an optical ray which intersects a surface of the device at a first angle is selected from the plurality of optical rays. The optical ray is then moved or otherwise displaced so that it intersects the single viewpoint while substantially maintaining the first angle. Once the optical ray is displaced, an image is formed using the displaced optical ray to create a reprojection from the single viewpoint. In one embodiment, the panoramic imaging device includes a spherical mirror, and the first camera includes a perspective lens.