diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp
index d7b3e539a390e..e205984e146d1 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp
@@ -62,7 +62,7 @@ using autoware::image_projection_based_fusion::CameraProjection;
 using autoware_perception_msgs::msg::ObjectClassification;
 
 template <class Msg2D>
-struct Det2dManager
+struct Det2dStatus
 {
   // camera index
   std::size_t id = 0;
@@ -116,7 +116,7 @@ class FusionNode : public rclcpp::Node
     }
     return true;
   }
-  void setDet2dFused(Det2dManager<Msg2D> & det2d)
+  void setDet2dFused(Det2dStatus<Msg2D> & det2d)
   {
     std::lock_guard<std::mutex> lock_det2d_flags(mutex_det2d_flags_);
     det2d.is_fused = true;
@@ -132,7 +132,7 @@ class FusionNode : public rclcpp::Node
   // Custom process methods
   virtual void preprocess(Msg3D & output_msg);
   virtual void fuseOnSingleImage(
-    const Msg3D & input_msg, const Det2dManager<Msg2D> & det2d, const Msg2D & input_roi_msg,
+    const Msg3D & input_msg, const Det2dStatus<Msg2D> & det2d, const Msg2D & input_roi_msg,
     Msg3D & output_msg) = 0;
   virtual void postprocess(Msg3D & output_msg);
   virtual void publish(const Msg3D & output_msg);
@@ -143,7 +143,7 @@ class FusionNode : public rclcpp::Node
   tf2_ros::TransformListener tf_listener_;
 
   // 2d detection management
-  std::vector<Det2dManager<Msg2D>> det2d_list_;
+  std::vector<Det2dStatus<Msg2D>> det2d_list_;
   std::mutex mutex_det2d_flags_;
 
   // camera projection
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp
index 24b3db8d01f9f..e8ee09cbf3334 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/pointpainting_fusion/node.hpp
@@ -50,7 +50,7 @@ class PointPaintingFusionNode : public FusionNode<PointCloudMsgType, RoiMsgType,
   void preprocess(PointCloudMsgType & pointcloud_msg) override;
 
   void fuseOnSingleImage(
-    const PointCloudMsgType & input_pointcloud_msg, const Det2dManager<RoiMsgType> & det2d,
+    const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus<RoiMsgType> & det2d,
     const RoiMsgType & input_roi_msg, PointCloudMsgType & painted_pointcloud_msg) override;
 
   void postprocess(PointCloudMsgType & painted_pointcloud_msg) override;
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp
index 8b73efcb111f5..aee9a1ec9654e 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp
@@ -35,7 +35,7 @@ class RoiClusterFusionNode : public FusionNode<ClusterMsgType, RoiMsgType, Clust
   void publish(const ClusterMsgType & output_msg) override;
 
   void fuseOnSingleImage(
-    const ClusterMsgType & input_cluster_msg, const Det2dManager<RoiMsgType> & det2d,
+    const ClusterMsgType & input_cluster_msg, const Det2dStatus<RoiMsgType> & det2d,
     const RoiMsgType & input_roi_msg, ClusterMsgType & output_cluster_msg) override;
 
 private:
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
index c01683cf2b58d..7064760a9ac07 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
@@ -40,11 +40,11 @@ class RoiDetectedObjectFusionNode : public FusionNode<DetectedObjects, RoiMsgTyp
   void preprocess(DetectedObjects & output_msg) override;
 
   void fuseOnSingleImage(
-    const DetectedObjects & input_object_msg, const Det2dManager<RoiMsgType> & det2d,
+    const DetectedObjects & input_object_msg, const Det2dStatus<RoiMsgType> & det2d,
     const RoiMsgType & input_roi_msg, DetectedObjects & output_object_msg) override;
 
   std::map<std::size_t, DetectedObjectWithFeature> generateDetectedObjectRoIs(
-    const DetectedObjects & input_object_msg, const Det2dManager<RoiMsgType> & det2d,
+    const DetectedObjects & input_object_msg, const Det2dStatus<RoiMsgType> & det2d,
     const Eigen::Affine3d & object2camera_affine);
 
   void fuseObjectsOnImage(
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp
index f456ea1594972..25209bb725f3a 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp
@@ -37,7 +37,7 @@ class RoiPointCloudFusionNode : public FusionNode<PointCloudMsgType, RoiMsgType,
   void postprocess(PointCloudMsgType & pointcloud_msg) override;
 
   void fuseOnSingleImage(
-    const PointCloudMsgType & input_pointcloud_msg, const Det2dManager<RoiMsgType> & det2d,
+    const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus<RoiMsgType> & det2d,
     const RoiMsgType & input_roi_msg, PointCloudMsgType & output_pointcloud_msg) override;
 
   void publish(const PointCloudMsgType & output_msg) override;
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
index 9d78bc77ca69f..b0503c8308146 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
@@ -45,7 +45,7 @@ class SegmentPointCloudFusionNode : public FusionNode<PointCloudMsgType, Image,
   void postprocess(PointCloudMsgType & pointcloud_msg) override;
 
   void fuseOnSingleImage(
-    const PointCloudMsgType & input_pointcloud_msg, const Det2dManager<Image> & det2d,
+    const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus<Image> & det2d,
     const Image & input_mask, PointCloudMsgType & output_pointcloud_msg) override;
 
   inline void copyPointCloud(
diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
index 2f321f29971a6..296d72e79adb7 100644
--- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
@@ -145,7 +145,7 @@ FusionNode<Msg3D, Msg2D, ExportObj>::FusionNode(
   approx_grid_cell_w_size_ = declare_parameter<float>("approximation_grid_cell_width");
   approx_grid_cell_h_size_ = declare_parameter<float>("approximation_grid_cell_height");
 
-  // camera manager initialization
+  // 2d detection status initialization
   det2d_list_.resize(rois_number_);
   for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) {
     det2d_list_.at(roi_i).mtx_ptr = std::make_unique<std::mutex>();
diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index 9a89973240d94..8dfba16ac8d05 100644
--- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -255,7 +255,7 @@ void PointPaintingFusionNode::preprocess(PointCloudMsgType & painted_pointcloud_
 
 void PointPaintingFusionNode::fuseOnSingleImage(
   __attribute__((unused)) const PointCloudMsgType & input_pointcloud_msg,
-  const Det2dManager<RoiMsgType> & det2d, const RoiMsgType & input_roi_msg,
+  const Det2dStatus<RoiMsgType> & det2d, const RoiMsgType & input_roi_msg,
   PointCloudMsgType & painted_pointcloud_msg)
 {
   if (painted_pointcloud_msg.data.empty() || painted_pointcloud_msg.fields.empty()) {
diff --git a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
index 9e4b475da295c..a3bc830dfa402 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
@@ -74,7 +74,7 @@ void RoiClusterFusionNode::preprocess(ClusterMsgType & output_cluster_msg)
 }
 
 void RoiClusterFusionNode::fuseOnSingleImage(
-  const ClusterMsgType & input_cluster_msg, const Det2dManager<RoiMsgType> & det2d,
+  const ClusterMsgType & input_cluster_msg, const Det2dStatus<RoiMsgType> & det2d,
   const RoiMsgType & input_roi_msg, ClusterMsgType & output_cluster_msg)
 {
   std::unique_ptr<ScopedTimeTrack> st_ptr;
diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
index 8e6f16e8d69f8..9a58b56117bb8 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
@@ -84,7 +84,7 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg)
 }
 
 void RoiDetectedObjectFusionNode::fuseOnSingleImage(
-  const DetectedObjects & input_object_msg, const Det2dManager<RoiMsgType> & det2d,
+  const DetectedObjects & input_object_msg, const Det2dStatus<RoiMsgType> & det2d,
   const RoiMsgType & input_roi_msg, DetectedObjects & output_object_msg __attribute__((unused)))
 {
   std::unique_ptr<ScopedTimeTrack> st_ptr;
@@ -116,7 +116,7 @@ void RoiDetectedObjectFusionNode::fuseOnSingleImage(
 
 std::map<std::size_t, DetectedObjectWithFeature>
 RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
-  const DetectedObjects & input_object_msg, const Det2dManager<RoiMsgType> & det2d,
+  const DetectedObjects & input_object_msg, const Det2dStatus<RoiMsgType> & det2d,
   const Eigen::Affine3d & object2camera_affine)
 {
   std::unique_ptr<ScopedTimeTrack> st_ptr;
diff --git a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
index 916bf010ff929..b5aabbdb83ddd 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
@@ -77,7 +77,7 @@ void RoiPointCloudFusionNode::postprocess(PointCloudMsgType & pointcloud_msg)
   }
 }
 void RoiPointCloudFusionNode::fuseOnSingleImage(
-  const PointCloudMsgType & input_pointcloud_msg, const Det2dManager<RoiMsgType> & det2d,
+  const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus<RoiMsgType> & det2d,
   const RoiMsgType & input_roi_msg,
   __attribute__((unused)) PointCloudMsgType & output_pointcloud_msg)
 {
diff --git a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
index 767e66640abbd..490b712daf186 100644
--- a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
@@ -91,7 +91,7 @@ void SegmentPointCloudFusionNode::postprocess(PointCloudMsgType & pointcloud_msg
 }
 
 void SegmentPointCloudFusionNode::fuseOnSingleImage(
-  const PointCloudMsgType & input_pointcloud_msg, const Det2dManager<Image> & det2d,
+  const PointCloudMsgType & input_pointcloud_msg, const Det2dStatus<Image> & det2d,
   [[maybe_unused]] const Image & input_mask,
   __attribute__((unused)) PointCloudMsgType & output_cloud)
 {