https://github.com/mbostock/d3/blob/master/src/core/ns.js
https://github.com/mbostock/d3/wiki/Namespaces#wiki-prefix
As for the error, I can't say without seeing what's in SVGPan.js. But
it looks like that script assumes it inadvertently assuming the
document's root element is an SVG element, where it will be an HTML
element when the SVG is embedded in a page. My guess is that script
only works with self-contained SVG (e.g., as an <img src="foo.svg">
tag), rather than SVG constructed dynamically via JavaScript.
Mike