In iCal create a calendar entry with your resource or location in the invitation. Select the resource and click on the disclosure (the downward pointing triangle). Choose "Copy Invitee Address", your clipboard will have the uuid (unique id) of the resource, something like:
Now remove the urn prefix ('urn:uuid:') and plug this into your browser for more details like so:
Or for a caldav url use:
Unfortunately, on Lion Server I wasn't able to have users subscribe to this url due to permissions. Hopefully you will have better luck than I on that part.