diff --git a/localization/ndt_evaluation/README.md b/localization/ndt_evaluation/README.md
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+# NDT Evaluation
+
+This directory contains tools for evaluating the performance of the NDT localization.
+
+## Step1: Record rosbag
+
+In order to use point clouds from different LiDARs in the future, it is useful to record raw point clouds and so on.
+
+```bash
+$ source ~/autoware/install/setup.bash
+$ ros2 topic list \
+      | grep -e ^/sensing -e ^/vehicle -e ^/localization -e ^/tf_static -e ^/initialpose \
+      > topic_list.txt
+$ ros2 bag record $(cat topic_list.txt)
+```
+
+## Step2: Apply `convert_rosbag_for_ndt_evaluation.py`
+
+* Check whether the necessary topics are available
+* Extract only the necessary topics
+* Change the topic name of the reference trajectory
+
+```bash
+python3 convert_rosbag_for_ndt_evaluation.py /path/to/recorded_rosbag
+```
+
+## Step3: Execute DrivingLogReplayer
+
+Setup [DrivingLogReplayer](https://tier4.github.io/driving_log_replayer/quick_start/installation/) and copy the converted rosbag (input_bad) to `~/driving_log_replayer_data/localization`
+
+```bash
+~/driving_log_replayer_data/localization$ tree -L 2
+.
+├── evaluation_sample
+│   ├── input_bag
+│   └── scenario.yaml
+└── sample
+    ├── input_bag
+    └── scenario.yaml
+
+4 directories, 2 files
+```
+
+Then execute.
+
+```bash
+dlr simulation run -p localization -l "play_rate:=0.5"
+```
+
+```bash
+<< show test result >>
+test case 1 / 2 : use case: evaluation_sample
+--------------------------------------------------
+TestResult: Passed
+Passed: Convergence (Success): 964 / 964 -> 100.00%, Reliability (Success): NVTL Sequential NG Count: 0 (Total Test: 974, Average: 3.07964, StdDev: 0.09657), NDT Availability (Success): NDT available
+test case 2 / 2 : use case: sample
+--------------------------------------------------
+TestResult: Passed
+Passed: Convergence (Success): 294 / 295 -> 99.66%, Reliability (Success): NVTL Sequential NG Count: 0 (Total Test: 295, Average: 2.47750, StdDev: 0.04174), NDT Availability (Success): NDT available
+```
diff --git a/localization/scripts/convert_rosbag_for_ndt_evaluation.py b/localization/ndt_evaluation/convert_rosbag_for_ndt_evaluation.py
similarity index 100%
rename from localization/scripts/convert_rosbag_for_ndt_evaluation.py
rename to localization/ndt_evaluation/convert_rosbag_for_ndt_evaluation.py