This text for graduate students discusses the mathematical foundations of statistical inference for building three-dimensional models from image and sensor data that contain noise--a task involving autonomous robots guided by video cameras and sensors.The text employs a theoretical accuracy for the optimization procedure, which maximizes the reliability of estimations based on noise data. The numerous mathematical prerequisites for developing the theories are explained systematically in separate chapters. These methods range from linear algebra, optimization, and geometry to a detailed statistical theory of geometric patterns, fitting estimates, and model selection. In addition, examples drawn from both synthetic and real data demonstrate the insufficiencies of conventional procedures and the improvements in accuracy that result from the use of optimal methods.