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For good course on robot mapping:

• Robot Mapping, by Wolfram Burgard
• [...]

For good course on visual odometry:

• Tutorial on Visual Odometry, by Davide Scaramuzza
• Vision Algorithms for Mobile Robotics, ETHZ
• [...]

From a software point of view, use a well-known library. For instance if you use ROS: rtabmap_ros. You can also find some references in aggregated lists like this or this.