added explanations to readme

README.md

@@ -24,7 +24,7 @@
 
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-This repository contains algorithms designed for map-based robot localization, specifically when dealing with triangle mesh or scene graph maps. These maps may be provided by architects who have designed the building in which the robot operates, or they can be autonomously generated by the robot through Simultaneous Localization and Mapping (SLAM) methods. It's crucial to note that map-based localization differs from SLAM; it focuses on estimating the robot's pose within a potentially large map, whether the initial pose is roughly known (tracking) or entirely unknown from the start (kidnapped-robot-problem). Map-based localization is essential for precisely planning the robot's missions in a given map.
+This repository contains algorithms designed for map-based robot localization, specifically when dealing with triangle mesh or scene graph maps. These maps may be provided by architects who have designed the building in which the robot operates, or they can be autonomously generated by the robot through Simultaneous Localization and Mapping (SLAM) methods. It's crucial to note that map-based localization differs from SLAM; it focuses on estimating the robot's pose within a potentially large map, whether the initial pose is roughly known (tracking) or entirely unknown from the start aka kidnapped robot problem. Map-based localization is essential for precisely planning the robot's missions in a given map.
 
 ## MICP-L
 
@@ -294,5 +294,5 @@ To navigate a robot automatically and safely through uneven terrain, the combina
 This package will be expanded by more functionalities to localize a robot in mesh maps.
 The planned Roadmap is as follows:
 
-- [x] MICP-L
-- [ ] RMCL
+- [x] MICP-L (Tracking)
+- [ ] RMCL (Global Localization)