These slides have a bit on this (although quite dense material): http://www.gatsby.ucl.ac.uk/teaching/courses/ml1-2011/lect5b... as part of http://www.gatsby.ucl.ac.uk/teaching/courses/ml1-2011.html

I quite like "Bayesian reasoning and machine learning" too: http://web4.cs.ucl.ac.uk/staff/D.Barber/textbook/090310.pdf