diff --git a/README.md b/README.md
index a4ad2306a..8b5f5a163 100644
--- a/README.md
+++ b/README.md
@@ -43,6 +43,7 @@ This repository contains the following packages:
 | [`beluga_example`](beluga_example)           | Example launch files, showing how to run Beluga-based nodes.                                                            |
 | [`beluga_benchmark`](beluga_benchmark)       | Scripts to benchmark, profile and also compare Beluga with other MCL implementations.                                   |
 | [`beluga_system_tests`](beluga_system_tests) | System integration tests for Beluga.                                                                                    |
+| [`beluga_vdb`](beluga_vdb) | A library extension for `beluga` facilitating the use of OpenVDB for 3D localization.                                                                                    |
 
 ## ⚙️ First Steps
 
diff --git a/beluga_vdb/README.md b/beluga_vdb/README.md
new file mode 100644
index 000000000..bc97894b6
--- /dev/null
+++ b/beluga_vdb/README.md
@@ -0,0 +1,51 @@
+# Beluga VDB
+
+<div align="center">
+<img alt="Shows the Beluga logo." src="images/57fe338a-3e7e-46b3-ad2f-17011d6d306a.png" height="200">
+</div>
+
+## 🌐 Overview
+
+BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses the powerful volumetric data structure of OpenVDB to efficiently process maps and 3D pointcloud data, providing the localization of the autonomous system.
+
+
+## 📦 External Dependencies
+
+### OpenVDB
+
+For Ubuntu 24.04 and newer versions OpenVDB can be installed using `apt`:
+
+```bash
+sudo apt install libopenvdb-dev
+```
+
+Older version must be isnstalled from sources as follow:
+
+#### Step 1: Download OpenVDB
+
+Clone [OpenVDB](https://github.com/AcademySoftwareFoundation/openvdb) into your machine (for Jammy version 8.2.0 is recommended):
+
+```bash
+git clone -b v8.2.0 https://github.com/AcademySoftwareFoundation/openvdb.git
+```
+
+#### Step 2: Compile OpenVDB
+
+Now you need to build OpenVDB:
+
+```bash
+cd openvdb && \
+mkdir build && cd build && \
+cmake .. && \
+make -j$(nproc)
+```
+
+#### Step 3: Install OpenVDB
+
+You can now install OpenVDB using:
+
+```bash
+sudo make install
+```
+
+🔸 For more information about OpenVDB please refer to the [official documentation](https://www.openvdb.org/documentation/doxygen/).
diff --git a/beluga_vdb/images/57fe338a-3e7e-46b3-ad2f-17011d6d306a.png b/beluga_vdb/images/57fe338a-3e7e-46b3-ad2f-17011d6d306a.png
new file mode 100755
index 000000000..156f3c485
Binary files /dev/null and b/beluga_vdb/images/57fe338a-3e7e-46b3-ad2f-17011d6d306a.png differ