According to a website it was first introduced into the Jurassic park game.
"I'd like to note the severly-ambitious, yet badly-executed Jurassic Park: Trespasser (1998) as an early experiment into HUD-less FPS gameplay."
Books don't have HUD, HUD is used in aircrafts and etc which then was transferred into games but Halo didn't come out to November 15, 2001. Therefore I believe Resident Evil would be the first game to have introduced a HUD feature
I was questioning what sam said, jeez. Halo clearly wasn't the first to use a HUD. I'd say it would have been one of the first to consider it like a helmet display but that isn't really a milestone tbh