diff --git a/bearing_localization/README.md b/bearing_localization/README.md
index 2a455a0..32e100b 100644
--- a/bearing_localization/README.md
+++ b/bearing_localization/README.md
@@ -1,26 +1,35 @@
 # Bearing Localization
 
-ROS 2 node that estimates the 3D position of a target using bearing-only triangulation. It collects directional measurements from different viewpoints and solves for the point in space that best fits all rays.
-
+ROS 2 node that estimates the 3D position of targets using bearing-only triangulation. It collects directional measurements from different viewpoints, and solves for the point in space that best fits all rays. Supports multiple simultaneous targets via per-target localizers.
 
 ## Topics
 
 | Direction | Parameter | Default | Type |
 |---|---|---|---|
-| Sub | `topics.bearing_measurement` | `bearing_measurement` | `geometry_msgs/Vector3Stamped` |
-| Sub | `topics.bearing_array` | `/aruco_detector/marker_directions` | `vortex_msgs/Vector3Array` |
+| Sub | `topics.bearing_measurements` | `bearing_measurements` | `vortex_msgs/BearingMeasurementArray` |
 | Pub | `topics.landmarks` | `landmarks` | `vortex_msgs/LandmarkArray` |
 | Pub | `topics.bearing_localization_markers` | `bearing_localization/markers` | `visualization_msgs/MarkerArray` |
 
-## Key Parameters
+## Algorithm Parameters
+
+Loaded from a profile file (`default.yaml`, `aruco.yaml`, or `pinger.yaml`). Selected via the `profile` launch argument.
 
 | Parameter | Default | Description |
 |---|---|---|
-| `profile` | `default` | Parameter profile (`default`, `aruco`) |
-| `target_frame` | `orca/odom` | Reference frame for output |
-| `window_size` | 30 | Max buffered measurements |
-| `max_measurement_age_sec` | 5.0 | Measurement expiry (seconds) |
-| `min_measurements` | 5 | Min rays to attempt solve |
-| `min_baseline_m` | 0.5 | Min distance between viewpoints |
-| `min_ray_angle_deg` | 5.0 | Min angular spread between rays |
-| `outlier_residual_threshold_m` | 1.0 | Outlier rejection threshold |
+| `window_size` | 30 | Max measurements kept in buffer |
+| `max_measurement_age_sec` | 5.0 | Discard measurements older than this (s) |
+| `min_measurements` | 5 | Min measurements needed to triangulate |
+| `min_baseline_m` | 0.5 | Min distance between first and last origin (m) |
+| `min_ray_angle_deg` | 5.0 | Min angle between rays to accept solution (deg) |
+| `outlier_residual_threshold_m` | 1.0 | Residual above this marks a measurement as outlier (m) |
+| `max_outlier_iterations` | 2 | Max rounds of iterative outlier rejection |
+
+## Launch
+
+```bash
+# Default profile
+ros2 launch bearing_localization bearing_localization.launch.py
+
+# With a specific profile
+ros2 launch bearing_localization bearing_localization.launch.py profile:=aruco
+```