Since you don't want a jQuery plugin, it's going to be non trivial due to the differences between the various touch platforms, and in the end you would probably end up in reinventing the wheel trying to get the abstraction you need. Above all, your effort will clearly depend on the level of accuracy you want to achieve, so it's advisable that you don't try to make the images respond to every minimal touch event.
I believe your best bet is to use Tocca.js, a very promising, standalone script which is "super lightweight" (only 1kB) and aims to normalize touch events among existing devices.
Hammer.js is more accurate, but could be a bit heavier in your case.
QuoJS is also good but it's not focused only on touch events.
You may find this and this SO question interesting. Finally, you can always take inspiration from the several existing touch-enabled javascript image sliders.