White Papers

• Claims-based Identity for Windows: Technologies and Scenarios
• Implementing Claims-Based Authentication with SharePoint Server 2010

Microsoft Patterns and Practices

• Claims Based Identity and Access Control Guide
• An Introduction to Claims
• Claims-Based Architectures
• Federated Identity for Web Applications
• Claims Enabling Web Services
• Claims-Based Single Sign-On for Microsoft SharePoint 2010
• Federated Identity for SharePoint Applications
• Appendix B: Message sequences for the passive (browser-based) and active (smart) client scenarios

TechNet Articles

• Plan authentication methods (SharePoint Server 2010)
• Configure claims authentication (SharePoint Server 2010)
• Configure forms-based authentication for a claims-based Web application (SharePoint Server 2010)
• How to configure AD FS v 2.0 in SharePoint Server 2010 

MSDN Articles

• Claims and Security Technical Articles for SharePoint 2010
• SharePoint Claims-Based Identity
• Authorization and Authentication

Blog Articles

• How to configure Form Based Authentication for SharePoint 2010
• Claims-based authentication "Cheat Sheet" Part 1
• Claims Based Authentication – An Overview
• Claims in SharePoint 2010

TechNet Wiki Articles

• SharePoint 2013 and SharePoint 2010 claims encoding

Videos

• Claims based authentication in SharePoint 2010 
• Developing Microsoft SharePoint Server 2010 Solutions with Claims Authentication
• Leveraging and Extending Microsoft SharePoint Server 2010 Identity Features
• How to configure AD FS v2.0 in SharePoint Server 2010

Similar resources for SharePoint 2013

• SharePoint 2013: Claims-Based Authentication