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 ROS Packages for Real-Time 3D LIDAR Based Localization using Normal Distribution Transform (NDT) Scan Matching Algorithm and Unscented Kalman Filter (UKF) Estimation.
 
 ![3D-LIDAR-Localization](3D-LIDAR-Localization.png)
+
+This localization algorithm performs Unscented Kalman Filter (UKF) based pose estimation. It first estimates the sensor pose from IMU data (IMU-based pose prediction is optional, if disabled, the system uses a constant velocity model) implemented on the LIDAR, and then performs multi-threaded NDT scan matching between a global map point cloud and input sensor point clouds to correct the estimated pose.
+
+## Dependencies
+***hdl_localization*** requires the following libraries:
+- PCL
+- OpenMP
+
+***hdl_localization*** requires the following ROS packages:
+- pcl_ros
+- [ndt_omp](https://github.com/koide3/ndt_omp)
+- [fast_gicp](https://github.com/SMRT-AIST/fast_gicp)
+- [hdl_global_localization](https://github.com/koide3/hdl_global_localization)
+
+## Installation
+
+```bash
+cd ROS1_Workspace
+```
+- For nominal NDT:
+    ```
+    catkin_make -DCMAKE_BUILD_TYPE=Release
+    ```
+- For CUDA-accelerated NDT:
+    ```bash
+    catkin_make -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON
+    ```
+
+## Configuration
+- All configurable parameters are listed in `launch/hdl_localization.launch`.
+- The estimated pose can be set and reset using using `2D Pose Estimate` in RViz.
+
+## Topics
+- ***/odom*** (nav_msgs/Odometry)
+  - Estimated sensor pose in the map frame
+- ***/aligned_points*** (sensor_msgs/PointCloud2)
+  - Input point cloud aligned with the map
+- ***/status*** (hdl_localization/ScanMatchingStatus)
+  - Scan matching result information (e.g., convergence, matching error, and inlier fraction)
+
+## Services
+- ***/relocalize*** (std_srvs/Empty)
+  - Reset the sensor pose with the global localization result
+
+## Execution
+
+Open a terminal and launch `hdl_localization`.
+```bash
+roslaunch hdl_localization hdl_localization.launch
+```
+
+Open another terminal and play a pre-recorded `rosbag` or start streming data from sensor.
+```bash
+rosparam set use_sim_time true
+rosbag play --clock <ROSBAG_PATH>
+```
+Open another terminal and call a service to reset the sensor pose with the global localization result (if required).
+```bash
+rosservice call /relocalize
+```
+
+> **Note:** If the algorithm does not work very well or if the CPU usage is too high, change `ndt_neighbor_search_method` in `hdl_localization.launch` to `DIRECT1`. It makes the scan matching significantly fast, but is a bit unstable.