What are the foundational sources establishing emancipation?

Primary text

The foundation for emancipation rests upon the Book (Quran), the Sunnah (Prophetic tradition), and Consensus (Ijma'). The evidence from the Book includes the verse stating, "...then the freeing of a slave" (Quran 58:3) and the verse stating, "...or the freeing of a slave" (Quran 90:13).