I understand that the dual graph $G^*$ is really defined for a plane graph $G$, i.e., a graph along with an embedding into $\mathbb{R}^2$, instead of just a planar graph, but I still have difficulty understanding why it is well defined.
Say $G$ is $K_3$ and $K_4$ connected by an edge $e$, embedded into the plane in the natural way ($K_4$ is embedded as a triangle with its center). In $G^*$ there is a loop $l$ at the vertex corresponding to the unbounded face of $G$. Should $l$ cross $e$? If so, should it surround $K_3$ or $K_4$? I believe the resulting "dual graphs" are isomorphic as graphs but different as plane graphs, although the latter two seem like the same if considered as graphs on sphere. There also seem to be some freedom when connecting the unbounded face with other faces. What is the exact algorithm to draw a dual graph?
Edit: I have come to the conclusion that dual graph is well-defined up to embedding into sphere, although I can't show this rigorously.
For convenience here is the part in Combinatorial Mathematics by Douglas West about dual.
