Seifert fibered spaces in 3-manifolds / William H. Jaco and Peter B. Shalen.
The main theorem of this monograph, or rather the "absolute" case of the main theorem, provides what is essentially a homotopy-classification of suitably "nondegenerate" maps of Seifert-fibered 3-manifolds into a sufficiently-large, compact, irreducible, orientable 3-manifold M
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