Yes. And perhaps you can start with historical material http://linux-vserver.org/Paper That happened long before current linux namespaces and influenced them in many aspects. As fro modern implementation https://lwn.net/Articles/531114/ and further

This article helped me clear few things about internals of container while I was preparing for Docker introduction presentation. It contains few C programs to get better idea than just theory: https://blog.selectel.com/containerization-mechanisms-namesp...