Added README with a short summary of the code

README.md

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+# Multiple objects detection, tracking and classification from LIDAR scans/point-clouds
+
+PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.
+
+### Features:
+
+- K-D tree based point cloud processing for object feature detection from point clouds
+- Unsupervised k-means clustering based on detected features and refinement using RANSAC
+- Stable tracking (object ID & data association) with an ensemble of Kalman Filters 
+- Robust compared to k-means clustering with mean-flow tracking
+### Short demo on a sample LIDAR scans from an autonomous vehicle
+![Sample demo of multiple object tracking using LIDAR scans](https://media.giphy.com/media/3YKG95w9gu263yQwDa/giphy.gif)