Computer Vision: Algorithms and Applications, Richard Szeliski, 2022 (Springer) - This textbook offers a comprehensive introduction to computer vision. It includes discussions on image gradients, edge detection principles, and various edge detection algorithms, making it a relevant resource for understanding fundamental concepts.
A Computational Approach to Edge Detection, John Canny, 1986IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-8 (IEEE)DOI: 10.1109/TPAMI.1986.4767851 - The seminal paper that introduced the Canny edge detection algorithm. It outlines the criteria for effective edge detection, including detection, localization, and a single response to an edge, based on gradient magnitude and direction analysis.