Seafloor topography data are essential for a multitude of Earth science studies. Among various seafloor mapping technologies, gravity inversion is the dominant approach to achieve rapid global coverage at low resolution and to obtain the bathymetry at places covered by ice shelves, icebergs, or ice mélange. The present book systematically discusses the relationship between topography and gravity, establishes methods of inferring seafloor topography from gravity, and gives practical examples showing seafloor topography estimation from airborne gravities measured in polar expedition missions.