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I am looking for a book where some monocular/visual SLAM is described and implemented.
Can you list and recommend some?
I’d like to use OpenCV but that is not a requirement.
I don’t know of a book with a description of such an algorithm, but there’s a complete open source implementation (in C++) of a vslam system available as part of the Robot Operating System. It uses SURF descriptors and vocabulary trees for place recognition, and bundle adjustment for SLAM. It does use OpenCV heavily as it’s made by the same people. See the website here. I can’t say for sure as they don’t mention and I haven’t looked in great detail, but their implementation seems to be based on, or at least is similar to, this paper.
Edit: The paper linked above was actually written by the people who implemented the vslam system given above, it appears. So it is definitely a good resource for understanding it.