The article already mentions the paper, Sets in Types, Types in Sets by Benjamin Werner which maps between Set/Type theories.

Another related and more approachable paper on the evolution of Type Theory and its relation to Set/Category theories is Types, Sets and Categories by John Bell.

Finally also see, Typed Lambda Calculus / Calculus of Constructions by Helmut Brandl for an excellent book-length but concise overview of CoC/CIC.

IMO, the above is required reading to understand theorem provers and proof assistants. In particular, Brandl's work is a must-read.