diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5d7b5eb321..052b4a6429 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -8,6 +8,7 @@
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_roi_based_cluster" default="true" description="launch roi_based_cluster in clustering"/>
   <arg name="use_low_intensity_cluster_filter" default="true" description="launch low_intensity_cluster_filter in clustering"/>
+  <arg name="use_image_segmentation_based_filter" default="false" description="launch image_segmentation_based_filter in clustering"/>
   <arg name="use_perception_online_evaluator" default="false" description="launch perception online evaluator"/>
   <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
   <arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
@@ -35,6 +36,7 @@
     <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
     <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
+    <arg name="use_image_segmentation_based_filter" value="$(var use_image_segmentation_based_filter)"/>
     <arg name="use_perception_online_evaluator" value="$(var use_perception_online_evaluator)"/>
     <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
     <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>