Sadly I've found that most sources prefer to be academically rigorous over quickly comprehensible. Of course it's good that people have done the academic work, but it can be tragically comical how obtuse an academic paper can make a simple concept.
However, one of the most recommended books on the subject is available online, so you might want to check that out.
Computer Vision: Algorithms and Applications by Richard Szeliski
Cool, thanks.
re: your first comment... I'm reminded of a lot of the wikipedia pages on mathematical concepts. Sometimes I have to laugh, because they seem so high-level that only someone who already understood the domain could understand them.
Is there any simple literature that covers this domain? Like a book of algorithms for computer vision, or something?