From 2719ad4d830f93787979905714beb18b7d2ea720 Mon Sep 17 00:00:00 2001
From: Taekjin LEE <technolojin@gmail.com>
Date: Thu, 25 Jan 2024 08:52:12 +0900
Subject: [PATCH] refactor(tier4_perception_launch): refactor
 object_recognition/detection launcher  (#6152)

* refactor: align mode parameters

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: cluster detector and merger

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: separate object merger launches

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: radar detector module

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: lidar detector modules

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: fix mis spell, align typo, clean-up

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---
 ...ar_radar_fusion_based_detection.launch.xml | 437 ------------------
 .../detection/detection.launch.xml            | 145 +++++-
 .../camera_lidar_detector.launch.xml}         | 236 ++--------
 .../detector/lidar_dnn_detector.launch.xml    |  56 +++
 .../detector/lidar_rule_detector.launch.xml   |  55 +++
 .../radar_detector.launch.xml}                |   0
 .../lidar_radar_based_detection.launch.xml    |  51 --
 .../merger/camera_lidar_merger.launch.xml     | 124 +++++
 .../camera_lidar_radar_merger.launch.xml      | 154 ++++++
 .../lidar_merger.launch.xml}                  | 114 +----
 10 files changed, 563 insertions(+), 809 deletions(-)
 delete mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{camera_lidar_fusion_based_detection.launch.xml => detector/camera_lidar_detector.launch.xml} (57%)
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{radar_based_detection.launch.xml => detector/radar_detector.launch.xml} (100%)
 delete mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
 create mode 100644 launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
 rename launch/tier4_perception_launch/launch/object_recognition/detection/{lidar_based_detection.launch.xml => merger/lidar_merger.launch.xml} (51%)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
deleted file mode 100644
index ba86bc1e334ff..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ /dev/null
@@ -1,437 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- Interface parameters -->
-  <arg name="output/objects" default="objects"/>
-
-  <!-- LiDAR parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
-
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="remove_unknown" default="true"/>
-  <arg name="fusion_distance" default="100.0"/>
-  <arg name="trust_object_distance" default="100.0"/>
-
-  <!-- Camera parameters -->
-  <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
-  <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
-  <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
-  <arg name="image_raw1" default="/image_raw1"/>
-  <arg name="camera_info1" default="/camera_info1"/>
-  <arg name="detection_rois1" default="/perception/object_recognition/detection/rois1"/>
-  <arg name="image_raw2" default="/image_raw2"/>
-  <arg name="camera_info2" default="/camera_info2"/>
-  <arg name="detection_rois2" default="/perception/object_recognition/detection/rois2"/>
-  <arg name="image_raw3" default="/image_raw3"/>
-  <arg name="camera_info3" default="/camera_info3"/>
-  <arg name="detection_rois3" default="/perception/object_recognition/detection/rois3"/>
-  <arg name="image_raw4" default="/image_raw4"/>
-  <arg name="camera_info4" default="/camera_info4"/>
-  <arg name="detection_rois4" default="/perception/object_recognition/detection/rois4"/>
-  <arg name="image_raw5" default="/image_raw5"/>
-  <arg name="camera_info5" default="/camera_info5"/>
-  <arg name="detection_rois5" default="/perception/object_recognition/detection/rois5"/>
-  <arg name="image_raw6" default="/image_raw6"/>
-  <arg name="camera_info6" default="/camera_info6"/>
-  <arg name="detection_rois6" default="/perception/object_recognition/detection/rois6"/>
-  <arg name="image_raw7" default="/image_raw7"/>
-  <arg name="camera_info7" default="/camera_info7"/>
-  <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
-  <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
-
-  <!-- Radar parameters -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-  <arg name="use_near_radar_fusion" default="false"/>
-  <arg name="far_object_merger_sync_queue_size" default="20"/>
-  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
-
-  <!-- Filter output name. Switch output topic name by 'use_radar_tracking_fusion' parameter defined in perception.launch -->
-  <let name="output_of_filtered_objects" value="$(var output/objects)" if="$(var use_radar_tracking_fusion)"/>
-  <let name="output_of_filtered_objects" value="near_objects" unless="$(var use_radar_tracking_fusion)"/>
-
-  <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
-    <arg name="image_raw0" value="$(var image_raw0)"/>
-    <arg name="image_raw1" value="$(var image_raw1)"/>
-    <arg name="image_raw2" value="$(var image_raw2)"/>
-    <arg name="image_raw3" value="$(var image_raw3)"/>
-    <arg name="image_raw4" value="$(var image_raw4)"/>
-    <arg name="image_raw5" value="$(var image_raw5)"/>
-    <arg name="image_raw6" value="$(var image_raw6)"/>
-    <arg name="image_raw7" value="$(var image_raw7)"/>
-    <arg name="image_number" value="$(var image_number)"/>
-  </include> -->
-
-  <!-- Radar detection -->
-  <group>
-    <push-ros-namespace namespace="radar"/>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="output/objects" value="far_objects"/>
-      <arg name="filter/angle_threshold" value="1.0472"/>
-      <arg name="filter/velocity_threshold" value="3.0"/>
-      <arg name="split/velocity_threshold" value="4.5"/>
-      <arg name="split_range" value="70.0"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-    </include>
-  </group>
-
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
-
-  <!-- Clustering -->
-  <group>
-    <push-ros-namespace namespace="clustering"/>
-    <group>
-      <let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
-      <let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
-      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
-        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      </include>
-    </group>
-
-    <!-- roi based clustering -->
-    <group>
-      <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/camera_info0" value="$(var camera_info0)"/>
-        <arg name="input/rois0" value="$(var detection_rois0)"/>
-        <arg name="input/camera_info1" value="$(var camera_info1)"/>
-        <arg name="input/rois1" value="$(var detection_rois1)"/>
-        <arg name="input/camera_info2" value="$(var camera_info2)"/>
-        <arg name="input/rois2" value="$(var detection_rois2)"/>
-        <arg name="input/camera_info3" value="$(var camera_info3)"/>
-        <arg name="input/rois3" value="$(var detection_rois3)"/>
-        <arg name="input/camera_info4" value="$(var camera_info4)"/>
-        <arg name="input/rois4" value="$(var detection_rois4)"/>
-        <arg name="input/camera_info5" value="$(var camera_info5)"/>
-        <arg name="input/rois5" value="$(var detection_rois5)"/>
-        <arg name="input/camera_info6" value="$(var camera_info6)"/>
-        <arg name="input/rois6" value="$(var detection_rois6)"/>
-        <arg name="input/camera_info7" value="$(var camera_info7)"/>
-        <arg name="input/rois7" value="$(var detection_rois7)"/>
-        <arg name="input/rois_number" value="$(var image_number)"/>
-        <arg name="input/image0" value="$(var image_raw0)"/>
-        <arg name="input/image1" value="$(var image_raw1)"/>
-        <arg name="input/image2" value="$(var image_raw2)"/>
-        <arg name="input/image3" value="$(var image_raw3)"/>
-        <arg name="input/image4" value="$(var image_raw4)"/>
-        <arg name="input/image5" value="$(var image_raw5)"/>
-        <arg name="input/image6" value="$(var image_raw6)"/>
-        <arg name="input/image7" value="$(var image_raw7)"/>
-        <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="roi_cluster/clusters"/>
-        <arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
-      </include>
-    </group>
-
-    <!-- simple_cluster_merger -->
-    <group>
-      <include file="$(find-pkg-share cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/cluster0" value="euclidean_cluster/clusters"/>
-        <arg name="input/cluster1" value="roi_cluster/clusters"/>
-        <arg name="output/clusters" value="clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-      </include>
-    </group>
-
-    <group>
-      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
-      <push-ros-namespace namespace="camera_lidar_fusion"/>
-      <!-- Fusion camera-lidar to classify -->
-
-      <!-- euclidean clustering -->
-      <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
-          <arg name="input/camera_info0" value="$(var camera_info0)"/>
-          <arg name="input/rois0" value="$(var detection_rois0)"/>
-          <arg name="input/camera_info1" value="$(var camera_info1)"/>
-          <arg name="input/rois1" value="$(var detection_rois1)"/>
-          <arg name="input/camera_info2" value="$(var camera_info2)"/>
-          <arg name="input/rois2" value="$(var detection_rois2)"/>
-          <arg name="input/camera_info3" value="$(var camera_info3)"/>
-          <arg name="input/rois3" value="$(var detection_rois3)"/>
-          <arg name="input/camera_info4" value="$(var camera_info4)"/>
-          <arg name="input/rois4" value="$(var detection_rois4)"/>
-          <arg name="input/camera_info5" value="$(var camera_info5)"/>
-          <arg name="input/rois5" value="$(var detection_rois5)"/>
-          <arg name="input/camera_info6" value="$(var camera_info6)"/>
-          <arg name="input/rois6" value="$(var detection_rois6)"/>
-          <arg name="input/camera_info7" value="$(var camera_info7)"/>
-          <arg name="input/rois7" value="$(var detection_rois7)"/>
-          <arg name="input/rois_number" value="$(var image_number)"/>
-          <arg name="input/clusters" value="$(var input/clustering)"/>
-          <arg name="input/image0" value="$(var image_raw0)"/>
-          <arg name="input/image1" value="$(var image_raw1)"/>
-          <arg name="input/image2" value="$(var image_raw2)"/>
-          <arg name="input/image3" value="$(var image_raw3)"/>
-          <arg name="input/image4" value="$(var image_raw4)"/>
-          <arg name="input/image5" value="$(var image_raw5)"/>
-          <arg name="input/image6" value="$(var image_raw6)"/>
-          <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="output/clusters" value="clusters"/>
-          <arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
-        </include>
-      </group>
-
-      <group>
-        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-          <arg name="input/objects" value="clusters"/>
-          <arg name="output/objects" value="objects_with_feature"/>
-        </include>
-      </group>
-      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-      <group>
-        <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-          <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="objects"/>
-        </include>
-      </group>
-    </group>
-  </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- PointPainting -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
-    <push-ros-namespace namespace="pointpainting"/>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
-      <arg name="model_name" value="$(var lidar_detection_model)"/>
-      <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-    </include>
-  </group>
-
-  <!-- Radar fusion -->
-  <group>
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
-      <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="input/radars" value="radar/noise_filtered_objects"/>
-      <arg name="output/objects" value="radar_fusion/objects"/>
-    </include>
-  </group>
-
-  <!-- Camera late fusion -->
-  <group>
-    <let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
-    <let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>
-
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="$(var target_objects)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
-      <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
-    </include>
-  </group>
-
-  <!-- Validator -->
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
-      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-    </include>
-  </group>
-
-  <!-- Merger -->
-  <group>
-    <!-- 1st merger to merge camera_lidar_fusion + ML lidar detection-->
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
-    <let name="merger/output/objects" value="near_objects" if="$(var without_dbt_and_filter)"/>
-    <let name="merger/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    </include>
-  </group>
-
-  <group if="$(var use_detection_by_tracker)">
-    <!-- 2nd merger to merge detection_by_tracker -->
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="near_objects" unless="$(var use_object_filter)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    </include>
-  </group>
-
-  <!-- Filter -->
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
-    </include>
-  </group>
-
-  <!-- Merge far_objects and near_objects in detection stage.
-      Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
-  <group unless="$(var use_radar_tracking_fusion)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="near_objects"/>
-      <arg name="input/object1" value="radar/far_objects"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-      <arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
-    </include>
-  </group>
-</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 885fa80ed7004..ab9ed65999048 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -3,7 +3,7 @@
   <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
-  <!-- LiDAR parameters -->
+  <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_object_filter" default="true" description="use object filter"/>
@@ -34,9 +34,10 @@
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
-  <!-- Camera-LiDAR-Radar fusion based detection -->
+  <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
+    <!-- Camera-Lidar detectors -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -57,23 +58,61 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-      <arg name="roi_cluster_fusion_param_path" value="$(var roi_cluster_fusion_param_path)"/>
-      <arg name="roi_pointcloud_fusion_param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
+    </include>
+    <!-- Lidar dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+    <!-- Radar detector-->
+    <group>
+      <push-ros-namespace namespace="radar"/>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+        <arg name="input/radar" value="$(var input/radar)"/>
+        <arg name="output/objects" value="far_objects"/>
+        <arg name="filter/angle_threshold" value="1.0472"/>
+        <arg name="filter/velocity_threshold" value="3.0"/>
+        <arg name="split/velocity_threshold" value="4.5"/>
+        <arg name="split_range" value="70.0"/>
+        <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+      </include>
+    </group>
+    <!-- Object merger -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
+      <arg name="image_raw0" value="$(var image_raw0)"/>
+      <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="image_raw1" value="$(var image_raw1)"/>
+      <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="image_raw2" value="$(var image_raw2)"/>
+      <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="image_raw3" value="$(var image_raw3)"/>
+      <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="image_raw4" value="$(var image_raw4)"/>
+      <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="image_raw5" value="$(var image_raw5)"/>
+      <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="image_raw6" value="$(var image_raw6)"/>
+      <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="image_raw7" value="$(var image_raw7)"/>
+      <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
     </include>
   </group>
 
-  <!-- Camera-LiDAR fusion based detection -->
+  <!-- Camera-Lidar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
+    <!-- Camera-Lidar detectors -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="image_raw0" value="$(var image_raw0)"/>
       <arg name="camera_info0" value="$(var camera_info0)"/>
@@ -94,47 +133,107 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
       <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
     </include>
+    <!-- Lidar dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+    <!-- Object merger -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
+      <arg name="image_raw0" value="$(var image_raw0)"/>
+      <arg name="camera_info0" value="$(var camera_info0)"/>
+      <arg name="image_raw1" value="$(var image_raw1)"/>
+      <arg name="camera_info1" value="$(var camera_info1)"/>
+      <arg name="image_raw2" value="$(var image_raw2)"/>
+      <arg name="camera_info2" value="$(var camera_info2)"/>
+      <arg name="image_raw3" value="$(var image_raw3)"/>
+      <arg name="camera_info3" value="$(var camera_info3)"/>
+      <arg name="image_raw4" value="$(var image_raw4)"/>
+      <arg name="camera_info4" value="$(var camera_info4)"/>
+      <arg name="image_raw5" value="$(var image_raw5)"/>
+      <arg name="camera_info5" value="$(var camera_info5)"/>
+      <arg name="image_raw6" value="$(var image_raw6)"/>
+      <arg name="camera_info6" value="$(var camera_info6)"/>
+      <arg name="image_raw7" value="$(var image_raw7)"/>
+      <arg name="camera_info7" value="$(var camera_info7)"/>
+      <arg name="image_number" value="$(var image_number)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    </include>
   </group>
 
-  <!-- LiDAR-Radar fusion based detection -->
+  <!-- Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
+    <!-- Radar detector-->
+    <group>
+      <push-ros-namespace namespace="radar"/>
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+        <arg name="input/radar" value="$(var input/radar)"/>
+        <arg name="output/objects" value="far_objects"/>
+        <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+        <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+      </include>
+    </group>
+    <!-- Lidar dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+    <!-- Lidar rule-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+    </include>
+    <!-- Lidar object merger -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+      <arg name="output/objects" value="lidar/objects"/>
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
+    </include>
+    <!-- Lidar-Radar object merger-->
+    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+      <arg name="input/objects" value="lidar/objects"/>
+      <arg name="input/radars" value="radar/noise_filtered_objects"/>
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 
-  <!-- LiDAR based detection -->
+  <!-- Lidar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
+    <!-- Lidar dnn-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+    </include>
+    <!-- Lidar rule-based detectors-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
+      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
+    </include>
+    <!-- Lidar object merger -->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
+      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_object_filter" value="$(var use_object_filter)"/>
     </include>
   </group>
 
   <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
+    <!-- Radar detector-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
similarity index 57%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 4cb648852a03c..1c9201a9af8b3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -1,17 +1,13 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface parameters -->
-  <arg name="output/objects" default="objects"/>
-
-  <!-- LiDAR parameters -->
+  <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
-  <arg name="score_threshold" default="0.35"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+
+  <!-- Lidar + Camera detector parameters -->
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_roi_based_cluster" default="false"/>
 
   <!-- Camera parameters -->
@@ -54,6 +50,44 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
+  <!-- PointPainting -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
+    <push-ros-namespace namespace="pointpainting"/>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(var camera_info0)"/>
+      <arg name="input/rois0" value="$(var detection_rois0)"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="$(var detection_rois1)"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="$(var detection_rois2)"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="$(var detection_rois3)"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="$(var detection_rois4)"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="$(var detection_rois5)"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="$(var detection_rois6)"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <arg name="input/rois7" value="$(var detection_rois7)"/>
+      <arg name="input/rois_number" value="$(var image_number)"/>
+      <arg name="input/image0" value="$(var image_raw0)"/>
+      <arg name="input/image1" value="$(var image_raw1)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+      <arg name="output/objects" value="objects"/>
+      <arg name="model_name" value="$(var lidar_detection_model)"/>
+      <arg name="model_path" value="$(var pointpainting_model_path)"/>
+      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
+      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+    </include>
+  </group>
+
   <!-- Pointcloud filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
@@ -192,190 +226,4 @@
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
     </include>
   </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- PointPainting -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
-    <push-ros-namespace namespace="pointpainting"/>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
-      <arg name="model_name" value="$(var lidar_detection_model)"/>
-      <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-    </include>
-  </group>
-
-  <group>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="$(var detection_rois0)"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="$(var detection_rois1)"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="$(var detection_rois2)"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="$(var detection_rois3)"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="$(var detection_rois4)"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="$(var detection_rois5)"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="$(var detection_rois6)"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="$(var detection_rois7)"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
-      <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
-    </include>
-  </group>
-
-  <!-- Validator -->
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
-    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
-    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
-      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
-    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
-      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
-      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
-    </include>
-  </group>
-
-  <!-- Merger -->
-  <group>
-    <!-- 1st merger to merge camera_lidar_fusion + ML lidar detection-->
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
-    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <let name="detection_end_here" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" if="$(var detection_end_here)"/>
-    <let name="merger/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var detection_end_here)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var merger/input/objects)"/>
-      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    </include>
-  </group>
-
-  <group if="$(var use_detection_by_tracker)">
-    <!-- 2nd merger to merge detection_by_tracker -->
-    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
-      <arg name="input/object1" value="detection_by_tracker/objects"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="output/object" value="$(var merger/output/objects)"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    </include>
-  </group>
-
-  <!-- Filter -->
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
-    </include>
-  </group>
-
-  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
-    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
-    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
-      <arg name="input/object" value="$(var filter/input/objects)"/>
-      <arg name="output/object" value="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
-    </include>
-  </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
new file mode 100644
index 0000000000000..1a97659b357d8
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Lidar parameters -->
+  <arg name="input/pointcloud"/>
+  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
+
+  <!-- Lidar detector centerpoint parameters -->
+  <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
+  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
+  <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
+
+  <!-- CenterPoint -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
+    <push-ros-namespace namespace="centerpoint"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="objects"/>
+        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
+        <arg name="model_name" value="$(var centerpoint_model_name)"/>
+        <arg name="model_path" value="$(var centerpoint_model_path)"/>
+        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
+        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- Lidar Apollo Instance Segmentation -->
+  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
+    <push-ros-namespace namespace="apollo"/>
+    <group>
+      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="labeled_clusters"/>
+      </include>
+    </group>
+
+    <group>
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="labeled_clusters"/>
+        <arg name="output/objects" value="objects_with_feature"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
+        <arg name="use_vehicle_reference_shape_size" value="false"/>
+      </include>
+    </group>
+
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <group>
+      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+        <arg name="input" value="objects_with_feature"/>
+        <arg name="output" value="objects"/>
+      </include>
+    </group>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
new file mode 100644
index 0000000000000..ce34640bd3179
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Lidar parameters -->
+  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+
+  <!-- Pointcloud filter -->
+  <group>
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
+      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
+      <arg name="use_intra_process" value="true"/>
+      <arg name="use_multithread" value="true"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    </include>
+  </group>
+
+  <!-- Clustering -->
+  <group>
+    <push-ros-namespace namespace="clustering"/>
+    <group>
+      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="clusters"/>
+        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      </include>
+    </group>
+
+    <group>
+      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="clusters"/>
+        <arg name="output/objects" value="objects_with_feature"/>
+      </include>
+    </group>
+
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <group>
+      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+        <arg name="input" value="objects_with_feature"/>
+        <arg name="output" value="objects"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- DetectionByTracker -->
+  <group if="$(var use_detection_by_tracker)">
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
similarity index 100%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
deleted file mode 100644
index adedc2312677f..0000000000000
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- LiDAR parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
-
-  <!-- Radar parameters -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
-
-  <!-- LiDAR detection-->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
-      <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="lidar/objects"/>
-      <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-      <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      <arg name="use_object_filter" value="$(var use_object_filter)"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
-    </include>
-  </group>
-
-  <!-- Radar detection-->
-  <group>
-    <push-ros-namespace namespace="radar"/>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="input/radar" value="$(var input/radar)"/>
-      <arg name="output/objects" value="far_objects"/>
-      <arg name="filter/angle_threshold" value="1.0472"/>
-      <arg name="filter/velocity_threshold" value="3.0"/>
-      <arg name="split/velocity_threshold" value="4.5"/>
-      <arg name="split_range" value="70.0"/>
-      <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
-    </include>
-  </group>
-
-  <!-- LiDAR-Radar fusion-->
-  <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="lidar/objects"/>
-    <arg name="input/radars" value="radar/noise_filtered_objects"/>
-    <arg name="output/objects" value="objects"/>
-  </include>
-</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
new file mode 100644
index 0000000000000..2f62e83ae0ef5
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -0,0 +1,124 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Merger parameters -->
+  <arg name="output/objects" default="objects"/>
+
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+
+  <!-- Lidar parameters -->
+  <arg name="lidar_detection_model"/>
+  <arg name="use_pointcloud_map"/>
+
+  <!-- Camera late fusion -->
+  <group>
+    <let name="target_objects" value="$(var lidar_detection_model)/objects"/>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(var camera_info0)"/>
+      <arg name="input/rois0" value="$(var detection_rois0)"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="$(var detection_rois1)"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="$(var detection_rois2)"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="$(var detection_rois3)"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="$(var detection_rois4)"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="$(var detection_rois5)"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="$(var detection_rois6)"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <arg name="input/rois7" value="$(var detection_rois7)"/>
+      <arg name="input/rois_number" value="$(var image_number)"/>
+      <arg name="input/image0" value="$(var image_raw0)"/>
+      <arg name="input/image1" value="$(var image_raw1)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/objects" value="$(var target_objects)"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
+    </include>
+  </group>
+
+  <!-- Validator -->
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
+    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+    </include>
+  </group>
+
+  <!-- Merger -->
+  <group>
+    <!-- 1st merger to merge camera_lidar_fusion + ML lidar detection-->
+    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
+    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
+    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
+    <let name="merger/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
+    <let name="merger/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var merger/input/objects)"/>
+      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+    </include>
+  </group>
+
+  <group if="$(var use_detection_by_tracker)">
+    <!-- 2nd merger to merge detection_by_tracker -->
+    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+    <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+    </include>
+  </group>
+
+  <!-- Filter -->
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
+    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
+    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="input/object" value="$(var filter/input/objects)"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
+    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
+    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="input/object" value="$(var filter/input/objects)"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
new file mode 100644
index 0000000000000..b4d19c9052a63
--- /dev/null
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -0,0 +1,154 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Merger parameters -->
+  <arg name="output/objects" default="objects"/>
+
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="use_near_radar_fusion" default="false"/>
+  <arg name="far_object_merger_sync_queue_size" default="20"/>
+
+  <!-- Filter output name. Switch output topic name by 'use_radar_tracking_fusion' parameter defined in perception.launch -->
+  <let name="output_of_filtered_objects" value="$(var output/objects)" if="$(var use_radar_tracking_fusion)"/>
+  <let name="output_of_filtered_objects" value="near_objects" unless="$(var use_radar_tracking_fusion)"/>
+
+  <!-- Lidar parameters -->
+  <arg name="lidar_detection_model"/>
+  <arg name="use_pointcloud_map"/>
+
+  <!-- Radar fusion -->
+  <group>
+    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
+      <arg name="input/objects" value="$(var lidar_detection_model)/objects"/>
+      <arg name="input/radars" value="radar/noise_filtered_objects"/>
+      <arg name="output/objects" value="radar_fusion/objects"/>
+    </include>
+  </group>
+
+  <!-- Camera late fusion -->
+  <group>
+    <let name="target_objects" value="radar_fusion/objects" if="$(var use_near_radar_fusion)"/>
+    <let name="target_objects" value="$(var lidar_detection_model)/objects" unless="$(var use_near_radar_fusion)"/>
+    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
+      <arg name="input/camera_info0" value="$(var camera_info0)"/>
+      <arg name="input/rois0" value="$(var detection_rois0)"/>
+      <arg name="input/camera_info1" value="$(var camera_info1)"/>
+      <arg name="input/rois1" value="$(var detection_rois1)"/>
+      <arg name="input/camera_info2" value="$(var camera_info2)"/>
+      <arg name="input/rois2" value="$(var detection_rois2)"/>
+      <arg name="input/camera_info3" value="$(var camera_info3)"/>
+      <arg name="input/rois3" value="$(var detection_rois3)"/>
+      <arg name="input/camera_info4" value="$(var camera_info4)"/>
+      <arg name="input/rois4" value="$(var detection_rois4)"/>
+      <arg name="input/camera_info5" value="$(var camera_info5)"/>
+      <arg name="input/rois5" value="$(var detection_rois5)"/>
+      <arg name="input/camera_info6" value="$(var camera_info6)"/>
+      <arg name="input/rois6" value="$(var detection_rois6)"/>
+      <arg name="input/camera_info7" value="$(var camera_info7)"/>
+      <arg name="input/rois7" value="$(var detection_rois7)"/>
+      <arg name="input/rois_number" value="$(var image_number)"/>
+      <arg name="input/image0" value="$(var image_raw0)"/>
+      <arg name="input/image1" value="$(var image_raw1)"/>
+      <arg name="input/image2" value="$(var image_raw2)"/>
+      <arg name="input/image3" value="$(var image_raw3)"/>
+      <arg name="input/image4" value="$(var image_raw4)"/>
+      <arg name="input/image5" value="$(var image_raw5)"/>
+      <arg name="input/image6" value="$(var image_raw6)"/>
+      <arg name="input/image7" value="$(var image_raw7)"/>
+      <arg name="input/objects" value="$(var target_objects)"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="param_path" value="$(var roi_detected_object_fusion_param_path)"/>
+    </include>
+  </group>
+
+  <!-- Validator -->
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
+    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+    <let name="validator/input/obstacle_pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml" if="$(var use_validator)">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
+      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+      <arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
+    <include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml" if="$(var use_validator)">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
+    </include>
+  </group>
+
+  <!-- Merger -->
+  <group>
+    <!-- 1st merger to merge camera_lidar_fusion + ML lidar detection-->
+    <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
+    <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
+    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
+    <let name="merger/output/objects" value="near_objects" if="$(var without_dbt_and_filter)"/>
+    <let name="merger/output/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var without_dbt_and_filter)"/>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var merger/input/objects)"/>
+      <arg name="input/object1" value="clustering/camera_lidar_fusion/objects"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+    </include>
+  </group>
+
+  <group if="$(var use_detection_by_tracker)">
+    <!-- 2nd merger to merge detection_by_tracker -->
+    <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
+    <let name="merger/output/objects" value="near_objects" unless="$(var use_object_filter)"/>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="output/object" value="$(var merger/output/objects)"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+    </include>
+  </group>
+
+  <!-- Filter -->
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
+    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
+    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="input/object" value="$(var filter/input/objects)"/>
+      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
+    </include>
+  </group>
+
+  <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
+    <let name="filter/input/objects" value="objects_before_filter" if="$(var use_detection_by_tracker)"/>
+    <let name="filter/input/objects" value="$(var lidar_detection_model)_roi_cluster_fusion/objects" unless="$(var use_detection_by_tracker)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
+      <arg name="input/object" value="$(var filter/input/objects)"/>
+      <arg name="output/object" value="$(var output_of_filtered_objects)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
+    </include>
+  </group>
+
+  <!-- Merge far_objects and near_objects in detection stage.
+      Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
+  <group unless="$(var use_radar_tracking_fusion)">
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="near_objects"/>
+      <arg name="input/object1" value="radar/far_objects"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+      <arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
+    </include>
+  </group>
+</launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
similarity index 51%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index 04c4264b70e5f..6ccff44933966 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -1,113 +1,19 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <!-- Merger parameters -->
   <arg name="output/objects" default="objects"/>
-  <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="use_object_filter" default="true" description="use object filter"/>
-  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
-  <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
+
   <arg name="objects_validation_method" default="obstacle_pointcloud"/>
   <arg name="objects_filter_method" default="lanelet_filter"/>
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
 
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
-
-  <!-- Clustering -->
-  <group>
-    <push-ros-namespace namespace="clustering"/>
-    <group>
-      <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-        <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-        <arg name="output_clusters" value="clusters"/>
-        <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-      </include>
-    </group>
-
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- DetectionByTracker -->
-  <group if="$(var use_detection_by_tracker)">
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-      <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
-    </include>
-  </group>
-
-  <!-- CenterPoint -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
-    <push-ros-namespace namespace="centerpoint"/>
-    <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
-        <arg name="score_threshold" value="$(var lidar_detection_score_threshold)"/>
-        <arg name="model_name" value="$(var centerpoint_model_name)"/>
-        <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
-      </include>
-    </group>
-  </group>
-
-  <!-- Lidar Apollo Instance Segmentation -->
-  <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
-    <push-ros-namespace namespace="apollo"/>
-    <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="labeled_clusters"/>
-      </include>
-    </group>
-
-    <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="labeled_clusters"/>
-        <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_vehicle_reference_yaw" value="true"/>
-        <arg name="use_vehicle_reference_shape_size" value="false"/>
-      </include>
-    </group>
+  <arg name="use_object_filter" default="true" description="use object filter"/>
+  <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
-      </include>
-    </group>
-  </group>
+  <!-- Lidar parameters -->
+  <arg name="lidar_detection_model"/>
+  <arg name="use_pointcloud_map"/>
 
   <!-- Validator -->
   <group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
@@ -133,9 +39,9 @@
     <!-- 1st merger to merge clustering + ML lidar detection-->
     <let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
     <let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
-    <let name="detection_end_here" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
-    <let name="merger/output/objects" value="temporary_merged_objects" unless="$(var detection_end_here)"/>
-    <let name="merger/output/objects" value="$(var output/objects)" if="$(var detection_end_here)"/>
+    <let name="without_dbt_and_filter" value="$(eval &quot;'$(var use_detection_by_tracker)'=='false' and '$(var use_object_filter)'=='false' &quot;)"/>
+    <let name="merger/output/objects" value="temporary_merged_objects" unless="$(var without_dbt_and_filter)"/>
+    <let name="merger/output/objects" value="$(var output/objects)" if="$(var without_dbt_and_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>