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 # Multiple objects detection, tracking and classification from LIDAR scans/point-clouds
+![Sample demo of multiple object tracking using LIDAR scans](https://media.giphy.com/media/3YKG95w9gu263yQwDa/giphy.gif)
 
 PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.
 
@@ -8,5 +9,3 @@ PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynami
 - 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)