Reinertsen's books are very, very good. The most recent and most up-to-date is Principles of Product Development Flow, which that chart came from. The previous one, Managing the Design Factory, is pretty similar and I think it's a better read.

Another great takeaway from it is to prioritize things by cost of delay, or even better, what he calls Weighted Shortest Job First, where you divide the cost of delay by the expected length of the task. The only problem is that the same people that want to get oddly formal and inappropriately rigorous with things like story points will want to turn cost-of-delay into an accounting exercise - or object that it's impossible because they don't have the accounting system for it - which misses the point entirely.