diff --git a/.github/workflows/gendoc.yml b/.github/workflows/gendoc.yml
new file mode 100644
index 00000000..0e38f116
--- /dev/null
+++ b/.github/workflows/gendoc.yml
@@ -0,0 +1,36 @@
+name: gendoc
+
+on:
+  push:
+    branches: [ gendoc ]
+    tags:
+      - '*'
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  gendoc:
+    name: Generate documentation
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Configure Git Credentials
+        run: |
+          git config user.name github-actions[bot]
+          git config user.email 41898282+github-actions[bot]@users.noreply.github.com
+
+      - name : Install dependencies
+        run: sudo apt-get install -y git cmake build-essential doxygen graphviz python3-dev mkdocs mkdocs-material
+      
+      - name: Generate documentation
+        run: cd docs && make all
+      
+      - uses: actions/upload-artifact@v4
+        with:
+          name: site
+          path: ./site/*
+
+      - name: Deploy documentation
+        run: cd docs && make deploy
diff --git a/README.md b/README.md
index 8e4e4b73..4cdf5458 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,8 @@ This is a collection of [GTSAM](https://gtsam.org/) factors and optimizers for r
 
 Tested on Ubuntu 22.04 / 24.04 and CUDA 12.2, and NVIDIA Jetson Orin with **GTSAM 4.2a9**.
 
-[![Build](https://github.com/koide3/gtsam_points/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/gtsam_points/actions/workflows/build.yml)
+
+[![Doc](https://img.shields.io/badge/API_list-Doxygen-blue)](https://koide3.github.io/gtsam_points/doc_cpp/index.html) [![Build](https://github.com/koide3/gtsam_points/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/gtsam_points/actions/workflows/build.yml)
 
 ## Factors
 
diff --git a/docs/Doxyfile b/docs/Doxyfile
index 1e219094..bc987c20 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -1184,7 +1184,7 @@ GENERATE_HTML          = YES
 # The default directory is: html.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_OUTPUT            = html
+HTML_OUTPUT            = doc_cpp
 
 # The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
 # generated HTML page (for example: .htm, .php, .asp).
diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 00000000..32ea0cdd
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,22 @@
+.PHONY: help
+help:
+	@echo "make cpp|all"
+
+.PHONY: cpp
+cpp:
+	@echo "Building C++ documentation..."
+	doxygen Doxyfile doc_cpp
+
+.PHONY: mkdocs
+mkdocs:
+	@echo "Building MkDocs documentation..."
+	cd .. && mkdocs build
+
+.PHONY: all
+all: cpp mkdocs
+	@echo "All documentation built."
+
+.PHONY: deploy
+deploy:
+	@echo "Deploying documentation..."
+	cd .. && mkdocs gh-deploy --force
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 00000000..ec5bade9
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1,5 @@
+# gtsam_points
+
+## Documentation
+
+- [C++](doc_cpp/index.html)
diff --git a/mkdocs.yml b/mkdocs.yml
new file mode 100644
index 00000000..58f3ef1d
--- /dev/null
+++ b/mkdocs.yml
@@ -0,0 +1,41 @@
+site_name: "gtsam_points"
+site_author: k.koide
+repo_url: https://github.com/koide3/gtsam_points
+site_url: https://github.com/koide3/gtsam_points
+site_description: "gtsam_points: A collection of GTSAM factors and optimizers for point-cloud-based SLAM"
+
+theme: 
+    name: material
+    palette:
+        primary: indigo
+    front:
+        text: Roboto
+
+use_directory_urls: false
+
+markdown_extensions:
+    - meta
+    - attr_list
+    - admonition
+    - pymdownx.highlight:
+        anchor_linenums: true
+    - pymdownx.inlinehilite
+    - pymdownx.snippets
+    - pymdownx.superfences
+
+copyright: Copyright © 2024 Kenji Koide
+extra:
+    social:
+        - icon: material/home
+          link: https://staff.aist.go.jp/k.koide/
+        - icon: fontawesome/brands/github
+          link: https://github.com/koide3/gtsam_points
+        - icon: fontawesome/brands/twitter
+          link: https://twitter.com/k_koide3
+
+extra_css:
+    - "css/custom.css"
+    - "https://maxcdn.bootstrapcdn.com/font-awesome/4.6.1/css/font-awesome.min.css"
+
+nav:
+    - 'index.md'