Bayesian Methods for Hackers : An intro to Bayesian methods + probabilistic programming with a computation/understanding-first, mathematics-second point of view.
H. Bai, D. Hsu, W. Lee, and V. Ngo. Algorithmic Foundations of Robotics IX, volume 68 of Springer Tracts in Advanced Robotics, chapter 11, Springer Berlin Heidelberg, Berlin, Heidelberg, (2011)