Here's a recent great book with free pre-print pdf: http://szeliski.org/Book/ http://szeliski.org/Book/ Along with the lecture slides from different professors

Here's a recent great book with free pre-print pdf: http://szeliski.org/Book/ http://szeliski.org/Book/ Along with the lecture slides from different professors linked to on that page, it should be a sufficient start.