It is amazing how many great things we can find on the Internet. About 15 years ago learning a complicated topic would be quite challenging mostly because the amount of information was not that big and the learning at times resembled solving puzzle with most parts missing.
These days it is still challenging (human factor, heh), however the information is all around us, and now arguably a greater problem is to find the time to stop searching & collecting and start reading / programming.
In a meantime, here is an officially freely available book/technical report from very good researchers:
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