diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/pose_initializer/launch/pose_initializer.launch.xml
index a0fdde13c65c5..3e4911e2c2936 100644
--- a/localization/pose_initializer/launch/pose_initializer.launch.xml
+++ b/localization/pose_initializer/launch/pose_initializer.launch.xml
@@ -7,6 +7,7 @@
   <arg name="stop_check_enabled"/>
 
   <arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
+  <arg name="gnss_initial_pose_auto_fix_target" default="pointcloud_map"/>
 
   <node pkg="pose_initializer" exec="pose_initializer_node" name="pose_initializer_node">
     <param from="$(var config_file)" allow_substs="true"/>
@@ -17,8 +18,10 @@
     <remap from="pose_reset" to="/initialpose3d"/>
     <remap from="ekf_trigger_node" to="/localization/pose_twist_fusion_filter/trigger_node"/>
     <remap from="ndt_trigger_node" to="/localization/pose_estimator/trigger_node"/>
-    <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
+    <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
+    <param name="map_height_fitter.target" value="$(var gnss_initial_pose_auto_fix_target)"/>
     <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
     <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
+    <remap from="~/vector_map" to="/map/vector_map"/>
   </node>
 </launch>
diff --git a/map/map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt
index 2f123d40c417e..8821158c54757 100644
--- a/map/map_height_fitter/CMakeLists.txt
+++ b/map/map_height_fitter/CMakeLists.txt
@@ -10,6 +10,10 @@ ament_auto_add_library(map_height_fitter SHARED
 )
 target_link_libraries(map_height_fitter ${PCL_LIBRARIES})
 
+# When adding `<depend>lanelet2_extension</depend>` to package.xml, many warnings are generated.
+# These are treated as errors in compile, so pedantic warnings are disabled for this package.
+target_compile_options(map_height_fitter PRIVATE -Wno-pedantic)
+
 ament_auto_add_executable(node
   src/node.cpp
 )
diff --git a/map/map_height_fitter/config/map_height_fitter.param.yaml b/map/map_height_fitter/config/map_height_fitter.param.yaml
index 45d51a7efb83f..af6a7fddfa554 100644
--- a/map/map_height_fitter/config/map_height_fitter.param.yaml
+++ b/map/map_height_fitter/config/map_height_fitter.param.yaml
@@ -1,3 +1,5 @@
 /**:
   ros__parameters:
-    map_loader_name: "/map/pointcloud_map_loader"
+    map_height_fitter:
+      map_loader_name: "/map/pointcloud_map_loader"
+      target: "pointcloud_map"
diff --git a/map/map_height_fitter/launch/map_height_fitter.launch.xml b/map/map_height_fitter/launch/map_height_fitter.launch.xml
index 955bb66cf6e8d..353f2151ee172 100644
--- a/map/map_height_fitter/launch/map_height_fitter.launch.xml
+++ b/map/map_height_fitter/launch/map_height_fitter.launch.xml
@@ -7,6 +7,7 @@
       <param from="$(var param_path)"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
+      <remap from="~/vector_map" to="/map/vector_map"/>
     </node>
   </group>
 </launch>
diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml
index 85258a8e54b22..7f384aa43ec7b 100644
--- a/map/map_height_fitter/package.xml
+++ b/map/map_height_fitter/package.xml
@@ -18,8 +18,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>lanelet2_extension</depend>
   <depend>libpcl-common</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
diff --git a/map/map_height_fitter/schema/map_height_fitter.schema.json b/map/map_height_fitter/schema/map_height_fitter.schema.json
index 69798d92d2fe6..dc59eb76d9685 100644
--- a/map/map_height_fitter/schema/map_height_fitter.schema.json
+++ b/map/map_height_fitter/schema/map_height_fitter.schema.json
@@ -10,9 +10,14 @@
           "type": "string",
           "description": "Node name of the map loader from which this map_height_fitter will retrieve its parameters",
           "default": "/map/pointcloud_map_loader"
+        },
+        "target": {
+          "type": "string",
+          "description": "Target map to fit (choose from 'pointcloud_map', 'vector_map')",
+          "default": "pointcloud_map"
         }
       },
-      "required": ["map_loader_name"],
+      "required": ["map_loader_name", "target"],
       "additionalProperties": false
     }
   },
@@ -21,7 +26,12 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/map_height_fitter"
+          "type": "object",
+          "properties": {
+            "map_height_fitter": {
+              "$ref": "#/definitions/map_height_fitter"
+            }
+          }
         }
       },
       "required": ["ros__parameters"],
diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/map_height_fitter/src/map_height_fitter.cpp
index a05c63d44ebce..095574125d9a0 100644
--- a/map/map_height_fitter/src/map_height_fitter.cpp
+++ b/map/map_height_fitter/src/map_height_fitter.cpp
@@ -14,10 +14,16 @@
 
 #include "map_height_fitter/map_height_fitter.hpp"
 
+#include <lanelet2_extension/utility/message_conversion.hpp>
+#include <lanelet2_extension/utility/query.hpp>
+
+#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_map_msgs/srv/get_partial_point_cloud_map.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
+#include <lanelet2_core/Forward.h>
+#include <lanelet2_core/LaneletMap.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
@@ -31,52 +37,74 @@ struct MapHeightFitter::Impl
   static constexpr char enable_partial_load[] = "enable_partial_load";
 
   explicit Impl(rclcpp::Node * node);
-  void on_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
+  void on_pcd_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
+  void on_vector_map(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg);
   bool get_partial_point_cloud_map(const Point & point);
-  double get_ground_height(const tf2::Vector3 & point) const;
+  double get_ground_height(const Point & point) const;
   std::optional<Point> fit(const Point & position, const std::string & frame);
 
   tf2::BufferCore tf2_buffer_;
   tf2_ros::TransformListener tf2_listener_;
   std::string map_frame_;
-  pcl::PointCloud<pcl::PointXYZ>::Ptr map_cloud_;
   rclcpp::Node * node_;
 
+  std::string fit_target_;
+
+  // for fitting by pointcloud_map_loader
   rclcpp::CallbackGroup::SharedPtr group_;
-  rclcpp::Client<autoware_map_msgs::srv::GetPartialPointCloudMap>::SharedPtr cli_map_;
-  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_map_;
-  rclcpp::AsyncParametersClient::SharedPtr params_map_loader_;
+  pcl::PointCloud<pcl::PointXYZ>::Ptr map_cloud_;
+  rclcpp::Client<autoware_map_msgs::srv::GetPartialPointCloudMap>::SharedPtr cli_pcd_map_;
+  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_pcd_map_;
+  rclcpp::AsyncParametersClient::SharedPtr params_pcd_map_loader_;
+
+  // for fitting by vector_map_loader
+  lanelet::LaneletMapPtr vector_map_;
+  rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_vector_map_;
 };
 
 MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), node_(node)
 {
-  const auto callback = [this](const std::shared_future<std::vector<rclcpp::Parameter>> & future) {
-    bool partial_load = false;
-    for (const auto & param : future.get()) {
-      if (param.get_name() == enable_partial_load) {
-        partial_load = param.as_bool();
-      }
-    }
-
-    if (partial_load) {
-      group_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-      cli_map_ = node_->create_client<autoware_map_msgs::srv::GetPartialPointCloudMap>(
-        "~/partial_map_load", rmw_qos_profile_default, group_);
-    } else {
-      const auto durable_qos = rclcpp::QoS(1).transient_local();
-      sub_map_ = node_->create_subscription<sensor_msgs::msg::PointCloud2>(
-        "~/pointcloud_map", durable_qos,
-        std::bind(&MapHeightFitter::Impl::on_map, this, std::placeholders::_1));
-    }
-  };
-
-  const auto map_loader_name = node->declare_parameter<std::string>("map_loader_name");
-  params_map_loader_ = rclcpp::AsyncParametersClient::make_shared(node, map_loader_name);
-  params_map_loader_->wait_for_service();
-  params_map_loader_->get_parameters({enable_partial_load}, callback);
+  fit_target_ = node->declare_parameter<std::string>("map_height_fitter.target");
+  if (fit_target_ == "pointcloud_map") {
+    const auto callback =
+      [this](const std::shared_future<std::vector<rclcpp::Parameter>> & future) {
+        bool partial_load = false;
+        for (const auto & param : future.get()) {
+          if (param.get_name() == enable_partial_load) {
+            partial_load = param.as_bool();
+          }
+        }
+
+        if (partial_load) {
+          group_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+          cli_pcd_map_ = node_->create_client<autoware_map_msgs::srv::GetPartialPointCloudMap>(
+            "~/partial_map_load", rmw_qos_profile_default, group_);
+        } else {
+          const auto durable_qos = rclcpp::QoS(1).transient_local();
+          sub_pcd_map_ = node_->create_subscription<sensor_msgs::msg::PointCloud2>(
+            "~/pointcloud_map", durable_qos,
+            std::bind(&MapHeightFitter::Impl::on_pcd_map, this, std::placeholders::_1));
+        }
+      };
+
+    const auto map_loader_name =
+      node->declare_parameter<std::string>("map_height_fitter.map_loader_name");
+    params_pcd_map_loader_ = rclcpp::AsyncParametersClient::make_shared(node, map_loader_name);
+    params_pcd_map_loader_->wait_for_service();
+    params_pcd_map_loader_->get_parameters({enable_partial_load}, callback);
+
+  } else if (fit_target_ == "vector_map") {
+    const auto durable_qos = rclcpp::QoS(1).transient_local();
+    sub_vector_map_ = node_->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
+      "~/vector_map", durable_qos,
+      std::bind(&MapHeightFitter::Impl::on_vector_map, this, std::placeholders::_1));
+
+  } else {
+    throw std::runtime_error("invalid fit_target");
+  }
 }
 
-void MapHeightFitter::Impl::on_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
+void MapHeightFitter::Impl::on_pcd_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
 {
   map_frame_ = msg->header.frame_id;
   map_cloud_ = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
@@ -87,11 +115,11 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point)
 {
   const auto logger = node_->get_logger();
 
-  if (!cli_map_) {
+  if (!cli_pcd_map_) {
     RCLCPP_WARN_STREAM(logger, "Partial map loading in pointcloud_map_loader is not enabled");
     return false;
   }
-  if (!cli_map_->service_is_ready()) {
+  if (!cli_pcd_map_->service_is_ready()) {
     RCLCPP_WARN_STREAM(logger, "Partial map loading in pointcloud_map_loader is not ready");
     return false;
   }
@@ -102,7 +130,7 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point)
   req->area.radius = 50;
 
   RCLCPP_DEBUG(logger, "Send request to map_loader");
-  auto future = cli_map_->async_send_request(req);
+  auto future = cli_pcd_map_->async_send_request(req);
   auto status = future.wait_for(std::chrono::seconds(1));
   while (status != std::future_status::ready) {
     RCLCPP_DEBUG(logger, "waiting response");
@@ -134,72 +162,121 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point)
   return true;
 }
 
-double MapHeightFitter::Impl::get_ground_height(const tf2::Vector3 & point) const
+void MapHeightFitter::Impl::on_vector_map(
+  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg)
 {
-  const double x = point.getX();
-  const double y = point.getY();
-
-  // find distance d to closest point
-  double min_dist2 = INFINITY;
-  for (const auto & p : map_cloud_->points) {
-    const double dx = x - p.x;
-    const double dy = y - p.y;
-    const double sd = (dx * dx) + (dy * dy);
-    min_dist2 = std::min(min_dist2, sd);
-  }
+  vector_map_ = std::make_shared<lanelet::LaneletMap>();
+  lanelet::utils::conversion::fromBinMsg(*msg, vector_map_);
+  map_frame_ = msg->header.frame_id;
+}
+
+double MapHeightFitter::Impl::get_ground_height(const Point & point) const
+{
+  const auto logger = node_->get_logger();
+
+  const double x = point.x;
+  const double y = point.y;
 
-  // find lowest height within radius (d+1.0)
-  const double radius2 = std::pow(std::sqrt(min_dist2) + 1.0, 2.0);
   double height = INFINITY;
-  for (const auto & p : map_cloud_->points) {
-    const double dx = x - p.x;
-    const double dy = y - p.y;
-    const double sd = (dx * dx) + (dy * dy);
-    if (sd < radius2) {
-      height = std::min(height, static_cast<double>(p.z));
+  if (fit_target_ == "pointcloud_map") {
+    // find distance d to closest point
+    double min_dist2 = INFINITY;
+    for (const auto & p : map_cloud_->points) {
+      const double dx = x - p.x;
+      const double dy = y - p.y;
+      const double sd = (dx * dx) + (dy * dy);
+      min_dist2 = std::min(min_dist2, sd);
+    }
+
+    // find lowest height within radius (d+1.0)
+    const double radius2 = std::pow(std::sqrt(min_dist2) + 1.0, 2.0);
+
+    for (const auto & p : map_cloud_->points) {
+      const double dx = x - p.x;
+      const double dy = y - p.y;
+      const double sd = (dx * dx) + (dy * dy);
+      if (sd < radius2) {
+        height = std::min(height, static_cast<double>(p.z));
+      }
+    }
+  } else if (fit_target_ == "vector_map") {
+    lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(vector_map_);
+
+    geometry_msgs::msg::Pose pose;
+    pose.position.x = x;
+    pose.position.y = y;
+    pose.position.z = 0.0;
+    lanelet::ConstLanelet closest_lanelet;
+    const bool result =
+      lanelet::utils::query::getClosestLanelet(all_lanelets, pose, &closest_lanelet);
+    if (!result) {
+      RCLCPP_WARN_STREAM(logger, "failed to get closest lanelet");
+      return point.z;
     }
+    height = closest_lanelet.centerline().back().z();
   }
 
-  return std::isfinite(height) ? height : point.getZ();
+  return std::isfinite(height) ? height : point.z;
 }
 
 std::optional<Point> MapHeightFitter::Impl::fit(const Point & position, const std::string & frame)
 {
   const auto logger = node_->get_logger();
-  tf2::Vector3 point(position.x, position.y, position.z);
+  RCLCPP_INFO_STREAM(logger, "fit_target: " << fit_target_ << ", frame: " << frame);
 
-  RCLCPP_DEBUG(logger, "original point: %.3f %.3f %.3f", point.getX(), point.getY(), point.getZ());
+  Point point;
+  point.x = position.x;
+  point.y = position.y;
+  point.z = position.z;
 
-  if (cli_map_) {
-    if (!get_partial_point_cloud_map(position)) {
+  RCLCPP_DEBUG(logger, "original point: %.3f %.3f %.3f", point.x, point.y, point.z);
+
+  // prepare data
+  if (fit_target_ == "pointcloud_map") {
+    if (cli_pcd_map_) {  // if cli_pcd_map_ is available, prepare pointcloud map by partial loading
+      if (!get_partial_point_cloud_map(position)) {
+        RCLCPP_WARN_STREAM(logger, "failed to get partial point cloud map");
+        return std::nullopt;
+      }
+    }  // otherwise, pointcloud map should be already prepared by on_pcd_map
+    if (!map_cloud_) {
+      RCLCPP_WARN_STREAM(logger, "point cloud map is not ready");
+      return std::nullopt;
+    }
+  } else if (fit_target_ == "vector_map") {
+    // vector_map_ should be already prepared by on_vector_map
+    if (!vector_map_) {
+      RCLCPP_WARN_STREAM(logger, "vector map is not ready");
       return std::nullopt;
     }
+  } else {
+    throw std::runtime_error("invalid fit_target");
   }
 
-  if (!map_cloud_) {
-    RCLCPP_WARN_STREAM(logger, "point cloud map is not ready");
+  // transform frame to map_frame_
+  try {
+    const auto stamped = tf2_buffer_.lookupTransform(frame, map_frame_, tf2::TimePointZero);
+    tf2::doTransform(point, point, stamped);
+  } catch (tf2::TransformException & exception) {
+    RCLCPP_WARN_STREAM(logger, "failed to lookup transform: " << exception.what());
     return std::nullopt;
   }
 
+  // fit height on map_frame_
+  point.z = get_ground_height(point);
+
+  // transform map_frame_ to frame
   try {
     const auto stamped = tf2_buffer_.lookupTransform(map_frame_, frame, tf2::TimePointZero);
-    tf2::Transform transform{tf2::Quaternion{}, tf2::Vector3{}};
-    tf2::fromMsg(stamped.transform, transform);
-    point = transform * point;
-    point.setZ(get_ground_height(point));
-    point = transform.inverse() * point;
+    tf2::doTransform(point, point, stamped);
   } catch (tf2::TransformException & exception) {
     RCLCPP_WARN_STREAM(logger, "failed to lookup transform: " << exception.what());
     return std::nullopt;
   }
 
-  RCLCPP_DEBUG(logger, "modified point: %.3f %.3f %.3f", point.getX(), point.getY(), point.getZ());
+  RCLCPP_DEBUG(logger, "modified point: %.3f %.3f %.3f", point.x, point.y, point.z);
 
-  Point result;
-  result.x = point.getX();
-  result.y = point.getY();
-  result.z = point.getZ();
-  return result;
+  return point;
 }
 
 MapHeightFitter::MapHeightFitter(rclcpp::Node * node)
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml b/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
index 4ed9d134d2183..4d00e254e78d5 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
+++ b/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
@@ -1,12 +1,16 @@
 <launch>
+  <arg name="rviz_initial_pose_auto_fix_target" default="pointcloud_map"/>
+
   <group>
     <push-ros-namespace namespace="default_ad_api/helpers"/>
     <node pkg="ad_api_adaptors" exec="initial_pose_adaptor" name="initial_pose_adaptor">
       <param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
-      <param name="map_loader_name" value="/map/pointcloud_map_loader"/>
+      <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
+      <param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
       <remap from="~/initialpose" to="/initialpose"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
+      <remap from="~/vector_map" to="/map/vector_map"/>
     </node>
     <node pkg="ad_api_adaptors" exec="routing_adaptor" name="routing_adaptor">
       <remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>