diff --git a/README.md b/README.md
index 6fb3773..2e069b1 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,7 @@
 
 1. [Introduction](#introduction)
 2. [Implementation Details](#implementation-details)
+   1. [Map](#map)
    1. [Model Predictive Controller (MPC)](#model-predictive-controller)
 3. [How-To](#how-to)
 4. [Limitations and Outlook](#limitations-and-outlook)
@@ -21,6 +22,16 @@ The rest of this readme is structured as follows. In [Section 2](##Components) w
 
 ## Implementation Details
 
+<p align="center"> 
+<img src="/Images/detections.png">
+</p>
+
+### Map 
+
+### Reference Path
+
+### Spatial Bicycle Model
+
 ### Model Predictive Controller
 
 ## How-To