Immersion:

A map f :M -> R^3 of a polyhedral surface into space is an immersion if it is a locally one-to-one map.

For smooth surfaces, there are some additional requirements that guarantee a well-defined tangent plane at each point of M.

See also:

[More] Immersed polyhedral surfaces
[More] Embedded surfaces

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8/12/94 dpvc@geom.umn.edu -- The Geometry Center