Image and geometry registration algorithms are an essential component of many computer graphics and computer vision systems. With recent technological advances in RGB-D sensors, such as the Microsoft Kinect or Asus Xtion Live, robust algorithms that combine 2D image and 3D geometry registration have become an active area of research. The goal of this course is to introduce the basics of 2D/3D registration algorithms and to provide theoretical explanations and practical tools to design computer vision and computer graphics systems based on RGB-D devices. To illustrate the theory and demonstrate practical relevance, we briefly discuss three applications: rigid scanning, non-rigid modeling, and realtime face tracking. Our course targets researchers and computer graphics practitioners with a background in computer graphics and/or computer vision. An up-to-date version of the course notes as well as slides and source code can be found at http://lgg.epfl.ch/2d3dRegistration.