On Linux you can inspect /proc/$PID/pmaps to see the libraries loaded by a particular program, and a program can open /proc/self/pmaps to examine the libraries it itself has loaded.
I know pmaps will only contain dynamic libraries, and obviously the kernel can't predict which libraries we might dlopen at a later point, so I expect those aren't included in /proc/self/maps. But I'm unsure of a few other other scenarios:
Are libraries that have been linked at build time but we haven't called any function in yet included? My understanding is the Linux delays linking symbols until the first time they are used, so I'm not sure if they'll show up.
Does pmaps contain all the libraries used recursively? E.g. if I look at each library in pmaps and run ldd on it, and then run ldd on those, ad nauseum, I shouldn't find any new libraries that weren't in the original pmaps? I tried this on a couple binaries and it appears to be so but maybe I'm getting lucky.