Modified the description of the repository

README.md

@@ -1,4 +1,7 @@
-PolarGridTracking
-=================
+Voxel and Particle Filter based object tracking
+===============================================
+
+Method able to detect the location and estimate the motion of obstacles, using just a 3D point cloud and odometry information as input. For that, we do a simplification of the world based on voxels, supported by a particle filter based 3D object segmentation and motion estimation scheme. This allows a fast and reliable object detection, for which we will know also their motion speed and directions.
+
+Although we have focused our tests on the use of 3d point clouds obtained from a pair of images, a key feature of this approach is that we do not need color information, allowing the use of many different sensor types able to generate a point cloud, or even a combination of them. In fact, we have implemented our approach in a modular way, allowing changing information sources (both the input point cloud and the odometry information) without modifying anything.
 
-Based on the paper "Particle grid tracking system for stereovision based environment perception", by Danescu, R. ; Comput. Sci. Dept., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania ; Oniga, F. ; Nedevschi, S.