diff --git a/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml
index 051aa22f52d7d..e1ece63a4940f 100644
--- a/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml
+++ b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml
@@ -1,9 +1,33 @@
+# cspell:ignore semseg
 /**:
   ros__parameters:
+
+    # refine segmentation mask by overlay roi class
+    # disable when sematic segmentation accuracy is good enough
+    is_roi_overlap_segment: true
+
+    # minimum existence_probability of detected roi considered to replace segmentation
+    overlap_roi_score_threshold: 0.3
+
+    # publish color mask for result visualization
+    is_publish_color_mask: false
+
+    roi_overlay_segment_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      MOTORCYCLE : true
+      BICYCLE : true
+      PEDESTRIAN : true
+      ANIMAL: true
+
     model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" # The onnx file name for YOLOX model.
     label_path: "$(var data_path)/tensorrt_yolox/label.txt" # The label file path for YOLOX model.
+    color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv"
     score_threshold: 0.35 # Objects with a score lower than this value will be ignored. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it.
     nms_threshold: 0.7 # Detection results will be ignored if IoU over this value. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it.
+
     precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8].
     calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax].
     dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core.
diff --git a/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml
index 28637e7353e22..dc6ebc2edeebb 100644
--- a/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml
+++ b/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml
@@ -4,13 +4,15 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-tiny"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="yolox_param_path" default="$(find-pkg-share tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
+  <arg name="yolox_param_path" default="$(find-pkg-share autoware_tensorrt_yolox)/config/yolox_tiny.param.yaml"/>
   <arg name="use_decompress" default="true" description="use image decompress"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
 
+  <arg name="param_file" default="$(find-pkg-share image_transport_decompressor)/config/image_transport_decompressor.param.yaml"/>
   <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node" if="$(var use_decompress)">
     <remap from="~/input/compressed_image" to="$(var input/image)/compressed"/>
     <remap from="~/output/raw_image" to="$(var input/image)"/>
+    <param from="$(var param_file)"/>
   </node>
 
   <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">