diff --git a/README.md b/README.md
index 7aca2a0..20f2bbb 100644
--- a/README.md
+++ b/README.md
@@ -6,9 +6,13 @@ OA keeps integrating with various "state-of-the-art" algorithms.
 * Object detection offload to GPU, [ros_opencl_caffe](https://github.com/intel/ros_opencl_caffe), with Yolo v2 model and [OpenCL Caffe](https://github.com/01org/caffe/wiki/clCaffe#yolo2-model-support) framework
 * Object detection offload to VPU, [ros_intel_movidius_ncs (devel branch)](https://github.com/intel/ros_intel_movidius_ncs/tree/devel/), with MobileNet SSD model and Caffe framework
 
+## System Requirements
+We support Ubuntu Linux Xenial Xerus 16.04 on 64-bit. We not support Mac OS X and Windows.
+
+
 ## compiling dependencies
   ROS packages from [ros-kinetic-desktop-full](http://wiki.ros.org/kinetic/Installation/Ubuntu)
- * roscpp
+  * roscpp
   * nodelet
   * std_msgs
   * sensor_msgs
@@ -19,53 +23,200 @@ OA keeps integrating with various "state-of-the-art" algorithms.
   * libpcl-all
   * libpcl-all-dev
   * ros-kinetic-opencv3
+  ```
+  sudo apt-get install ros-kinetic-desktop-full
+  ```
 
   Other ROS packages
+
   * [object_msgs](https://github.com/intel/object_msgs)
-  * [ros_intel_movidius_ncs](https://github.com/intel/ros_intel_movidius_ncs) or [opencl_caffe](https://github.com/intel/ros_opencl_caffe)
+  ```
+  mkdir ~/ros_ws/src -p
+  cd ~/ros_ws/src
+  git clone https://github.com/intel/object_msgs
+  ```
+
+  * Build OpenCV3 & opencv-contrib 3.3 (OA depends on tracking feature from OpenCV Contrib 3.3. OpenCV 3.3 is not integrated in ROS2 Crystal release, need to build and install Opencv3 with contrib from source to apply tracking feature)
+  ```
+  # Build and Install OpenCV3 with opencv-contrib
+  mkdir ${HOME}/opencv
+  cd ${HOME}/opencv
+  git clone https://github.com/opencv/opencv.git -b 3.3.0
+  git clone https://github.com/opencv/opencv_contrib.git -b 3.3.0
+  mkdir opencv/build -p
+  cd opencv/build
+  cmake -DOPENCV_EXTRA_MODULES_PATH=${HOME}/opencv/opencv_contrib/modules -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_opencv_cnn_3dobj=OFF ..
+  make -j8
+  sudo make install
+  sudo ldconfig
+  ```
 
-  NOTE: OA depends on tracking feature from OpenCV (3.3 preferred, 3.2 minimum). The tracking feature is recently provided by ROS Kinetic package "ros-kinetic-opencv3" (where OpenCV **3.3.1** is integrated). However, if you're using an old version of ROS Kinetic (where OpenCV **3.2** is integrated), tracking feature is not provided. In such case you need self-build tracking from [opencv_contrib](https://github.com/opencv/opencv_contrib). It is important to keep opencv_contrib (self-built) and opencv (ROS Kinetic provided) in the same OpenCV version that can be checked from "/opt/ros/kinetic/share/opencv3/package.xml"
+  * [ros_intel_movidius_ncs](https://github.com/intel/ros_intel_movidius_ncs)(To install ros_intel_movidius_ncs or opencl_caffe as demand)
 
-## build and test
-  * to build
-  ```bash
-  cd ${ros_ws} # "ros_ws" is the catkin workspace root directory where this project is placed in
-  catkin_make
   ```
-  * to test
-  ```bash
-  catkin_make run_tests
+  # build ncsdk
+  mkdir ~/code
+  cd ~/code
+  git clone https://github.com/movidius/ncsdk.git
+  git clone https://github.com/movidius/ncappzoo.git
+  cd ncsdk/
+  make install
+  ln -sf ~/code/ncappzoo /opt/movidius/ncappzoo
+  cd /opt/movidius/ncappzoo/caffe/SSD_MobileNet && make
+
+
+  # build ros_intel_movidius_ncs
+  cd ~/ros_ws/src
+  git clone https://github.com/intel/ros_intel_movidius_ncs.git
+  cp -rf ros_intel_movidius_ncs/data/labels/* /opt/movidius/ncappzoo/data/ilsvrc12/
+  cd ~/ros_ws
+  source /opt/ros/kinetic/setup.bash
+  catkin_make_isolated
+
   ```
+  * [opencl_caffe](https://github.com/intel/ros_opencl_caffe) (To install ros_intel_movidius_ncs or opencl_caffe as demand)
+  ```
+  # install OpenCL
+  mkdir ~/code
+  cd ~/code
+  wget http://registrationcenter-download.intel.com/akdlm/irc_nas/11396/SRB4.1_linux64.zip
+  unzip SRB4.1_linux64.zip
+  sudo usermod -a -G video `users`
+  sudo apt-get install openssl libnuma1 libpciaccess0
+  sudo apt-get install xz-utils
+  mkdir intel-opencl
+  tar -C intel-opencl -xxf intel-opencl-r4.1-61547.x86_64.tar.xz
+  tar -C intel-opencl -xvf intel-opencl-devel-r4.1-61547.x86_64.tar.xz
+  tar -C intel-opencl -xvf intel-opencl-cpu-r4.1-61547.x86_64.tar.xz
+  sudo cp -rf intel-opencl/* /
+  sudo ldconfig
 
-  * to install
-  ```bash
-  catkin_make install
+  # install MKL
+  mkdir -p ~/code/MKL
+  cd ~/code/MKL
+  wget -c http://registrationcenter-download.intel.com/akdlm/irc_nas/tec/12070/l_mkl_2018.0.128.tgz
+  tar xvf l_mkl_2018.0.128.tgz
+  cd l_mkl_2018.0.128
+  sed -i 's/ACCEPT_EULA=decline/ACCEPT_EULA=accept/g' silent.cfg
+  sudo ./install.sh -s ./silent.cfg || true
+  echo export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/opt/intel/mkl/lib/intel64_lin >> ~/.bashrc
+  source ~/.bashrc
+
+  # install viennacl-dev
+  cd ~/code
+  sudo apt-get install libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libhdf5-serial-dev protobuf-compiler
+  sudo apt-get install --no-install-recommends libboost-all-dev
+  sudo apt-get install libopenblas-dev liblapack-dev libatlas-base-dev
+  sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev
+  git clone https://github.com/viennacl/viennacl-dev.git
+  cd viennacl-dev
+  mkdir build && cd build
+  cmake -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=$HOME/local -DOPENCL_LIBRARY=/opt/intel/opencl/libOpenCL.so ..
+  make -j4
+  make install
+
+  # install isacc
+  cd ~/code
+  git clone https://github.com/intel/isaac
+  cd isaac
+  mkdir build && cd build
+  cmake -DCMAKE_INSTALL_PREFIX=$HOME/local .. && make -j4
+  make install
+
+  # install clCaffe
+  cd ~/code
+  git clone https://github.com/01org/caffe clCaffe
+  cd clCaffe
+  git checkout inference-optimize
+  export PYTHONPATH=$PYTHONPATH:$HOME/code/clCaffe/python
+  mkdir build && cd build
+  export ISAAC_HOME=$HOME/local
+  cmake .. -DUSE_GREENTEA=ON -DUSE_CUDA=OFF -DUSE_INTEL_SPATIAL=ON -DBUILD_docs=0 -DUSE_ISAAC=ON -DviennaCL_INCLUDE_DIR=$HOME/local/include -DBLAS=mkl -DOPENCL_LIBRARIES=/opt/intel/opencl/libOpenCL.so -DOPENCL_INCLUDE_DIRS=/opt/intel/opencl/include
+  make -j4
+  export CAFFE_ROOT=$HOME/code/clCaffe
+  sudo pip install --upgrade pip (pip >= 9.0.1 is required by matplotlib)
+  sudo pip install scikit-image
+  sudo pip install protobuf
+  export PYTHONPATH=${CAFFE_ROOT}/python/
+  cd ..
+  wget https://pjreddie.com/media/files/yolo-voc.weights -O models/yolo/yolo416/yolo.weights
+  python models/yolo/convert_yolo_to_caffemodel.py
+  python tools/inference-optimize/model_fuse.py --indefinition models/yolo/yolo416/yolo_deploy.prototxt --outdefinition models/yolo/yolo416/fused_yolo_deploy.prototxt --inmodel models/yolo/yolo416/yolo.caffemodel --outmodel models/yolo/yolo416/fused_yolo.caffemodel
+  sudo ln -s $HOME/code/clCaffe /opt/clCaffe
+  echo export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/opt/clCaffe/build/lib >> ~/.bashrc
+  source ~/.bashrc
+
+  # install ros_opencl_caffe
+  cd ~/ros_ws/src
+  git clone https://github.com/intel/ros_opencl_caffe
+  cd ~/ros_ws
+  source /opt/ros/kinetic/setup.sh
+  catkin_make_isolated
+  cp ~/ros_ws/src/ros_opencl_caffe/opencl_caffe/resources/voc.txt /opt/clCaffe/data/yolo
+
+  ```
+
+## extra camera dependencies
+  RGB-D camera with Intel RealSense D400 Series
+  * [librealsense2 tag v2.9.1](https://github.com/IntelRealSense/librealsense/tree/v2.9.1)
+  ```
+  # Build librealsense (ref to https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
+  sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev
+  cd ~/code
+  git clone https://github.com/IntelRealSense/librealsense -b v2.9.1
+  mkdir -p ~/code/librealsense/build
+  cd ~/code/librealsense/build
+  cmake ../
+  make -j8
+  sudo make install
+  cd ../
+  sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
+  sudo udevadm control --reload-rules && udevadm trigger
+  ```
+
+  * [realsense_ros_camera tag 2.0.2](https://github.com/intel-ros/realsense/tree/2.0.2)
+  ```
+  # Build realsense_ros_camera
+  sudo apt-get install ros-kinetic-rgbd-launch
+  mkdir ~/ros_ws/src -p
+  cd ~/ros_ws/src
+  git clone https://github.com/intel-ros/realsense -b 2.0.2
+  cd ~/ros_ws
+  source /opt/ros/kinetic/setup.bash
+  catkin_make_isolated --source src/realsense
   ```
 
-## extra running dependencies
-  RGB-D camera
-  * [librealsense2 tag v2.9.1](https://github.com/IntelRealSense/librealsense/tree/v2.9.1) and [realsense_ros_camera tag 2.0.2](https://github.com/intel-ros/realsense/tree/2.0.2) if run with Intel RealSense D400
+  * launch RealSense Node
   ```
+  source /opt/ros/kinetic/setup.bash
+  source ~/ros_ws/devel_isolated/setup.bash
   roslaunch realsense_ros_camera rs_rgbd.launch
   ```
-  * [openni_launch](http://wiki.ros.org/openni_launch) or [freenect_launch](http://wiki.ros.org/freenect_launch) and their dependencies if run with Microsoft XBOX 360 Kinect
-  ```bash
-  roslaunch openni_launch openni.launch
+
+## build object_analytics
   ```
-  * [ros_astra_camera](https://github.com/orbbec/ros_astra_camera) if run with Astra Camera
-  ```bash
-  roslaunch astra_launch astra.launch
+  cd ~/ros_ws/src
+  git clone https://github.com/intel/ros_object_analytics
+  cd ~/ros_ws
+  source /opt/ros/kinetic/setup.bash
+  source ~/ros_ws/devel_isolated/setup.bash
+  catkin_make_isolated
   ```
 
 ## command to launch object_analytics
+* source ros environment
+  ```
+  source /opt/ros/kinetic/setup.bash
+  source ~/ros_ws/devel_isolated/setup.bash
+  ```
 * launch with OpenCL caffe as detection backend
-   ```bash
-   roslaunch object_analytics_launch analytics_opencl_caffe.launch
-   ```
+  ```bash
+  roslaunch object_analytics_launch analytics_opencl_caffe.launch
+  ```
 * launch with Movidius NCS as detection backend
-   ```bash
-   roslaunch object_analytics_launch analytics_movidius_ncs.launch
-   ```
+  ```bash
+  roslaunch object_analytics_launch analytics_movidius_ncs.launch
+  ```
 
   Frequently used options
   * **input_points** Specify arg "input_points" for the name of the topic publishing the [sensor_msgs::PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) messages by RGB-D camera. Default is "/camera/depth_registered/points" (topic compliant with [ROS OpenNI launch](http://wiki.ros.org/openni_launch))
@@ -87,6 +238,14 @@ OA keeps integrating with various "state-of-the-art" algorithms.
   object_analytics/detection ([object_msgs::ObjectsInBoxes](https://github.com/intel/object_msgs/tree/master/msg))
 
 
+## visualize tracking and localization results on RViz
+  Steps to enable visualization on RViz are as following
+  ```bash
+  source /opt/ros/kinetic/setup.bash
+  source ~/ros_ws/devel_isolated/setup.bash
+  roslaunch object_analytics_visualization rviz.launch
+  ```
+
 ## KPI of differnt detection backends
 <table>
     <tr>
@@ -136,10 +295,5 @@ OA keeps integrating with various "state-of-the-art" algorithms.
 * CNN model of Movidius NCS is MobileNet
 * Hardware: Intel(R) Xeon(R) CPU E3-1275 v5 @3.60GHz, 32GB RAM, Intel(R) RealSense R45
 
-## visualize tracking and localization results on RViz
-  Steps to enable visualization on RViz are as following
-  ```bash
-  roslaunch object_analytics_visualization rviz.launch
-  ```
 ###### *ROS 2 Object Analytics: https://github.com/intel/ros2_object_analytics*
 ###### *Any security issue should be reported using process at https://01.org/security*