diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 996bc7dd031e1..7be745544b3e2 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -135,7 +135,7 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier
 perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
-perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
+perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
 perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
 perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 7c53ed09ad203..9cc5fcf847212 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -42,7 +42,7 @@
   <arg name="output/rule_detector/objects"/>
 
   <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
+  <!-- <include file="$(find-pkg-share autoware_tensorrt_yolox)/launch/multiple_yolox.launch.xml">
     <arg name="image_raw0" value="$(var input/camera0/image)"/>
     <arg name="image_raw1" value="$(var input/camera1/image)"/>
     <arg name="image_raw2" value="$(var input/camera2/image)"/>
diff --git a/perception/tensorrt_yolox/.gitignore b/perception/autoware_tensorrt_yolox/.gitignore
similarity index 100%
rename from perception/tensorrt_yolox/.gitignore
rename to perception/autoware_tensorrt_yolox/.gitignore
diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/autoware_tensorrt_yolox/CMakeLists.txt
similarity index 96%
rename from perception/tensorrt_yolox/CMakeLists.txt
rename to perception/autoware_tensorrt_yolox/CMakeLists.txt
index cac574aff8623..1f54326f2b33a 100644
--- a/perception/tensorrt_yolox/CMakeLists.txt
+++ b/perception/autoware_tensorrt_yolox/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.17)
-project(tensorrt_yolox)
+project(autoware_tensorrt_yolox)
 
 find_package(tensorrt_common)
 if(NOT ${tensorrt_common_FOUND})
@@ -138,7 +138,7 @@ target_compile_definitions(yolox_single_image_inference_node PRIVATE
 )
 
 rclcpp_components_register_node(yolox_single_image_inference_node
-  PLUGIN "tensorrt_yolox::YoloXSingleImageInferenceNode"
+  PLUGIN "autoware::tensorrt_yolox::YoloXSingleImageInferenceNode"
   EXECUTABLE yolox_single_image_inference
 )
 
@@ -159,7 +159,7 @@ target_compile_definitions(${PROJECT_NAME}_node PRIVATE
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "tensorrt_yolox::TrtYoloXNode"
+  PLUGIN "autoware::tensorrt_yolox::TrtYoloXNode"
   EXECUTABLE ${PROJECT_NAME}_node_exe
 )
 
diff --git a/perception/tensorrt_yolox/README.md b/perception/autoware_tensorrt_yolox/README.md
similarity index 99%
rename from perception/tensorrt_yolox/README.md
rename to perception/autoware_tensorrt_yolox/README.md
index c97fe74a324e7..b88693f18d00f 100644
--- a/perception/tensorrt_yolox/README.md
+++ b/perception/autoware_tensorrt_yolox/README.md
@@ -1,4 +1,4 @@
-# tensorrt_yolox
+# autoware_tensorrt_yolox
 
 ## Purpose
 
diff --git a/perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
similarity index 100%
rename from perception/tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
rename to perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml
diff --git a/perception/tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml
similarity index 74%
rename from perception/tensorrt_yolox/config/yolox_tiny.param.yaml
rename to perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml
index 051aa22f52d7d..e1ece63a4940f 100644
--- a/perception/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/tensorrt_yolox/include/tensorrt_yolox/calibrator.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp
similarity index 98%
rename from perception/tensorrt_yolox/include/tensorrt_yolox/calibrator.hpp
rename to perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp
index be7d0f188ff9e..73f24b644eb2c 100644
--- a/perception/tensorrt_yolox/include/tensorrt_yolox/calibrator.hpp
+++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/calibrator.hpp
@@ -34,8 +34,8 @@
  * DEALINGS IN THE SOFTWARE.
  */
 
-#ifndef TENSORRT_YOLOX__CALIBRATOR_HPP_
-#define TENSORRT_YOLOX__CALIBRATOR_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
 
 #include "cuda_utils/cuda_check_error.hpp"
 #include "cuda_utils/cuda_unique_ptr.hpp"
@@ -53,7 +53,7 @@
 #include <string>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 class ImageStream
 {
@@ -488,6 +488,6 @@ class Int8MinMaxCalibrator : public nvinfer1::IInt8MinMaxCalibrator
   std::vector<char> hist_cache_;
   double scale_;
 };
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
-#endif  // TENSORRT_YOLOX__CALIBRATOR_HPP_
+#endif  // AUTOWARE__TENSORRT_YOLOX__CALIBRATOR_HPP_
diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp
similarity index 96%
rename from perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp
rename to perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp
index faac6de4e3284..947d6cc6ecc95 100644
--- a/perception/tensorrt_yolox/include/tensorrt_yolox/preprocess.hpp
+++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_YOLOX__PREPROCESS_HPP_
-#define TENSORRT_YOLOX__PREPROCESS_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_
 
 #include <cublas_v2.h>
 #include <cuda.h>
@@ -21,7 +21,7 @@
 #include <cuda_runtime_api.h>
 #include <curand.h>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 struct Roi
 {
@@ -195,5 +195,5 @@ extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu(
 extern void argmax_gpu(
   unsigned char * dst, float * src, int d_w, int d_h, int s_w, int s_h, int s_c, int batch,
   cudaStream_t stream);
-}  // namespace tensorrt_yolox
-#endif  // TENSORRT_YOLOX__PREPROCESS_HPP_
+}  // namespace autoware::tensorrt_yolox
+#endif  // AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_
diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp
similarity index 97%
rename from perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp
rename to perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp
index d287c8a44d4cf..6610476dc33fc 100644
--- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp
+++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp
@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
-#define TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
 
+#include <autoware/tensorrt_yolox/preprocess.hpp>
 #include <cuda_utils/cuda_unique_ptr.hpp>
 #include <cuda_utils/stream_unique_ptr.hpp>
 #include <opencv2/opencv.hpp>
 #include <tensorrt_common/tensorrt_common.hpp>
-#include <tensorrt_yolox/preprocess.hpp>
 
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 using cuda_utils::CudaUniquePtr;
 using cuda_utils::CudaUniquePtrHost;
@@ -312,6 +312,6 @@ class TrtYoloX
   std::vector<tensorrt_yolox::Colormap> sematic_color_map_;
 };
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
-#endif  // TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
+#endif  // AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_HPP_
diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp
similarity index 92%
rename from perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp
rename to perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp
index 48ffedb98441d..7f622b2dc867e 100644
--- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp
+++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
-#define TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
+#ifndef AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
+#define AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
+#include <autoware/tensorrt_yolox/tensorrt_yolox.hpp>
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <image_transport/image_transport.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tensorrt_yolox/tensorrt_yolox.hpp>
 
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/header.hpp>
@@ -42,7 +42,7 @@
 #include <string>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 // cspell: ignore Semseg
 using LabelMap = std::map<int, std::string>;
@@ -110,6 +110,6 @@ class TrtYoloXNode : public rclcpp::Node
   std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
 };
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
-#endif  // TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
+#endif  // AUTOWARE__TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
diff --git a/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml b/perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml
similarity index 82%
rename from perception/tensorrt_yolox/launch/multiple_yolox.launch.xml
rename to perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml
index 9de37c76e034b..a039d25222490 100644
--- a/perception/tensorrt_yolox/launch/multiple_yolox.launch.xml
+++ b/perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml
@@ -26,42 +26,42 @@
   <arg name="image_number" default="1"/>
   <arg name="output_topic" default="rois"/>
 
-  <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='1'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw0)"/>
     <arg name="output/objects" value="rois0"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw0)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='2'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw1)"/>
     <arg name="output/objects" value="rois1"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw1)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='3'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw2)"/>
     <arg name="output/objects" value="rois2"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw2)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='4'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw3)"/>
     <arg name="output/objects" value="rois3"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw3)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='5'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw4)"/>
     <arg name="output/objects" value="rois4"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw4)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='6'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw5)"/>
     <arg name="output/objects" value="rois5"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw5)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='7'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw6)"/>
     <arg name="output/objects" value="rois6"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw6)"/>
   </include>
-  <include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
+  <include if="$(eval &quot;'$(var image_number)'>='8'&quot;)" file="$(find-pkg-share autoware_tensorrt_yolox)/launch/yolox.launch.xml">
     <arg name="input/image" value="$(var image_raw7)"/>
     <arg name="output/objects" value="rois7"/>
     <arg name="gpu_id" value="$(var gpu_id_image_raw7)"/>
diff --git a/perception/tensorrt_yolox/launch/yolox.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox.launch.xml
similarity index 100%
rename from perception/tensorrt_yolox/launch/yolox.launch.xml
rename to perception/autoware_tensorrt_yolox/launch/yolox.launch.xml
diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
similarity index 87%
rename from perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
rename to perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
index e4436a0424be5..de52107447c72 100644
--- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
+++ b/perception/autoware_tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
@@ -10,7 +10,7 @@
     description="options `yolox-sPlus-T4-960x960-pseudo-finetune` if only detection is needed, `yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls` if sematic segmentation is also needed"
   />
   <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_s_plus_opt.param.yaml"/>
+  <arg name="yolox_param_path" default="$(find-pkg-share autoware_tensorrt_yolox)/config/yolox_s_plus_opt.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"/>
 
@@ -21,7 +21,7 @@
     <param from="$(var param_file)"/>
   </node>
 
-  <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
+  <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
     <remap from="~/out/mask" to="$(var output/mask)"/>
diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml
similarity index 73%
rename from perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
rename to perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml
index 9e5d1c371b13b..dc6ebc2edeebb 100644
--- a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml
+++ b/perception/autoware_tensorrt_yolox/launch/yolox_tiny.launch.xml
@@ -4,16 +4,18 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-tiny"/>
   <arg name="data_path" default="$(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="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
+  <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox" output="screen">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/out/objects" to="$(var output/objects)"/>
     <param from="$(var yolox_param_path)" allow_substs="true"/>
diff --git a/perception/tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml
similarity index 97%
rename from perception/tensorrt_yolox/package.xml
rename to perception/autoware_tensorrt_yolox/package.xml
index 8e5a0ef973caa..a7921eb55df52 100644
--- a/perception/tensorrt_yolox/package.xml
+++ b/perception/autoware_tensorrt_yolox/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>tensorrt_yolox</name>
+  <name>autoware_tensorrt_yolox</name>
   <version>0.0.1</version>
   <description>tensorrt library implementation for yolox</description>
 
diff --git a/perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
similarity index 100%
rename from perception/tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
rename to perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json
diff --git a/perception/tensorrt_yolox/schema/yolox_tiny.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json
similarity index 100%
rename from perception/tensorrt_yolox/schema/yolox_tiny.schema.json
rename to perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json
diff --git a/perception/tensorrt_yolox/src/preprocess.cu b/perception/autoware_tensorrt_yolox/src/preprocess.cu
similarity index 99%
rename from perception/tensorrt_yolox/src/preprocess.cu
rename to perception/autoware_tensorrt_yolox/src/preprocess.cu
index f384de2975aa4..ba9d456f32749 100644
--- a/perception/tensorrt_yolox/src/preprocess.cu
+++ b/perception/autoware_tensorrt_yolox/src/preprocess.cu
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <tensorrt_yolox/preprocess.hpp>
+#include <autoware/tensorrt_yolox/preprocess.hpp>
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -21,7 +21,7 @@
 
 #define MIN(x, y) x < y ? x : y
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 constexpr size_t block = 512;
 
@@ -629,4 +629,4 @@ void argmax_gpu(
     N, dst, src, d_h, d_w, s_c, s_h, s_w, batch);
 }
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp
similarity index 98%
rename from perception/tensorrt_yolox/src/tensorrt_yolox.cpp
rename to perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp
index 25f762e2a4ec8..1d468f7a647a5 100644
--- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp
+++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp
@@ -15,10 +15,10 @@
 #include "cuda_utils/cuda_check_error.hpp"
 #include "cuda_utils/cuda_unique_ptr.hpp"
 
+#include <autoware/tensorrt_yolox/calibrator.hpp>
+#include <autoware/tensorrt_yolox/preprocess.hpp>
+#include <autoware/tensorrt_yolox/tensorrt_yolox.hpp>
 #include <experimental/filesystem>
-#include <tensorrt_yolox/calibrator.hpp>
-#include <tensorrt_yolox/preprocess.hpp>
-#include <tensorrt_yolox/tensorrt_yolox.hpp>
 
 #include <assert.h>
 
@@ -104,9 +104,9 @@ std::vector<std::string> loadImageList(const std::string & filename, const std::
   return fileList;
 }
 
-std::vector<tensorrt_yolox::Colormap> get_seg_colormap(const std::string & filename)
+std::vector<autoware::tensorrt_yolox::Colormap> get_seg_colormap(const std::string & filename)
 {
-  std::vector<tensorrt_yolox::Colormap> seg_cmap;
+  std::vector<autoware::tensorrt_yolox::Colormap> seg_cmap;
   if (filename != "not-specified") {
     std::vector<std::string> color_list = loadListFromTextFile(filename);
     for (int i = 0; i < static_cast<int>(color_list.size()); i++) {
@@ -115,7 +115,7 @@ std::vector<tensorrt_yolox::Colormap> get_seg_colormap(const std::string & filen
         continue;
       }
       std::string colormapString = color_list[i];
-      tensorrt_yolox::Colormap cmap;
+      autoware::tensorrt_yolox::Colormap cmap;
       size_t npos = colormapString.find_first_of(',');
       assert(npos != std::string::npos);
       std::string substr = colormapString.substr(0, npos);
@@ -151,7 +151,7 @@ std::vector<tensorrt_yolox::Colormap> get_seg_colormap(const std::string & filen
 
 }  // anonymous namespace
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 TrtYoloX::TrtYoloX(
   const std::string & model_path, const std::string & precision, const int num_class,
@@ -1247,7 +1247,8 @@ int TrtYoloX::getMultitaskNum(void)
 }
 
 void TrtYoloX::getColorizedMask(
-  const std::vector<tensorrt_yolox::Colormap> & colormap, const cv::Mat & mask, cv::Mat & cmask)
+  const std::vector<autoware::tensorrt_yolox::Colormap> & colormap, const cv::Mat & mask,
+  cv::Mat & cmask)
 {
   int width = mask.cols;
   int height = mask.rows;
@@ -1264,4 +1265,4 @@ void TrtYoloX::getColorizedMask(
   }
 }
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp
similarity index 98%
rename from perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp
rename to perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp
index f1189b53c23bf..f3c7b2552edb6 100644
--- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp
+++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tensorrt_yolox/tensorrt_yolox_node.hpp"
+#include "autoware/tensorrt_yolox/tensorrt_yolox_node.hpp"
 
 #include "object_recognition_utils/object_classification.hpp"
 
@@ -24,7 +24,7 @@
 #include <utility>
 #include <vector>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options)
 : Node("tensorrt_yolox", node_options)
@@ -281,7 +281,7 @@ void TrtYoloXNode::overlapSegmentByRoi(
                        .rowRange(roi_y_offset, roi_y_offset + roi_height));
 }
 
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(tensorrt_yolox::TrtYoloXNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::tensorrt_yolox::TrtYoloXNode)
diff --git a/perception/tensorrt_yolox/src/yolox_single_image_inference_node.cpp b/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp
similarity index 92%
rename from perception/tensorrt_yolox/src/yolox_single_image_inference_node.cpp
rename to perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp
index 360f41e470e38..919d68202a9a9 100644
--- a/perception/tensorrt_yolox/src/yolox_single_image_inference_node.cpp
+++ b/perception/autoware_tensorrt_yolox/src/yolox_single_image_inference_node.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <autoware/tensorrt_yolox/tensorrt_yolox.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tensorrt_yolox/tensorrt_yolox.hpp>
 
 #if (defined(_MSC_VER) or (defined(__GNUC__) and (7 <= __GNUC_MAJOR__)))
 #include <filesystem>
@@ -26,7 +26,7 @@ namespace fs = ::std::experimental::filesystem;
 #include <memory>
 #include <string>
 
-namespace tensorrt_yolox
+namespace autoware::tensorrt_yolox
 {
 class YoloXSingleImageInferenceNode : public rclcpp::Node
 {
@@ -67,7 +67,7 @@ class YoloXSingleImageInferenceNode : public rclcpp::Node
     rclcpp::shutdown();
   }
 };
-}  // namespace tensorrt_yolox
+}  // namespace autoware::tensorrt_yolox
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(tensorrt_yolox::YoloXSingleImageInferenceNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::tensorrt_yolox::YoloXSingleImageInferenceNode)
diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml
index 5c94b5c6ceaf9..38ebd7defb7d0 100644
--- a/perception/autoware_traffic_light_fine_detector/package.xml
+++ b/perception/autoware_traffic_light_fine_detector/package.xml
@@ -13,13 +13,13 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_tensorrt_yolox</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>message_filters</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tensorrt_yolox</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_perception_msgs</depend>
 
diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp
index d22a3f2074a7b..129e6f9825b51 100644
--- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp
+++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp
@@ -31,7 +31,7 @@ namespace fs = ::std::experimental::filesystem;
 namespace
 {
 float calWeightedIou(
-  const sensor_msgs::msg::RegionOfInterest & bbox1, const tensorrt_yolox::Object & bbox2)
+  const sensor_msgs::msg::RegionOfInterest & bbox1, const autoware::tensorrt_yolox::Object & bbox2)
 {
   int x1 = std::max(static_cast<int>(bbox1.x_offset), bbox2.x_offset);
   int x2 = std::min(static_cast<int>(bbox1.x_offset + bbox1.width), bbox2.x_offset + bbox2.width);
@@ -89,7 +89,7 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt
   batch_size_ = input_dim.d[0];
   const tensorrt_common::BatchConfig batch_config{batch_size_, batch_size_, batch_size_};
 
-  trt_yolox_ = std::make_unique<tensorrt_yolox::TrtYoloX>(
+  trt_yolox_ = std::make_unique<autoware::tensorrt_yolox::TrtYoloX>(
     model_path, precision, num_class, score_thresh_, nms_threshold, build_config, cuda_preprocess,
     calib_image_list, scale, cache_dir, batch_config);
 
@@ -146,14 +146,14 @@ void TrafficLightFineDetectorNode::callback(
   cv::Mat original_image;
   TrafficLightRoiArray out_rois;
   std::map<int, TrafficLightRoi> id2expectRoi;
-  std::map<int, tensorrt_yolox::ObjectArray> id2detections;
+  std::map<int, autoware::tensorrt_yolox::ObjectArray> id2detections;
   for (const auto & expect_roi : expect_roi_msg->rois) {
     id2expectRoi[expect_roi.traffic_light_id] = expect_roi;
   }
 
   rosMsg2CvMat(in_image_msg, original_image, "bgr8");
   std::vector<cv::Rect> rois;
-  tensorrt_yolox::ObjectArrays inference_results;
+  autoware::tensorrt_yolox::ObjectArrays inference_results;
   std::vector<cv::Point> lts;
   std::vector<size_t> roi_ids;
 
@@ -177,7 +177,7 @@ void TrafficLightFineDetectorNode::callback(
     if (static_cast<int>(rois.size()) == batch_size_) {
       trt_yolox_->doMultiScaleInference(original_image, inference_results, rois);
       for (size_t batch_i = 0; batch_i < true_batch_size; batch_i++) {
-        for (const tensorrt_yolox::Object & detection : inference_results[batch_i]) {
+        for (const autoware::tensorrt_yolox::Object & detection : inference_results[batch_i]) {
           if (detection.score < score_thresh_) {
             continue;
           }
@@ -185,7 +185,7 @@ void TrafficLightFineDetectorNode::callback(
             lts[batch_i].x + detection.x_offset, lts[batch_i].y + detection.y_offset);
           cv::Point rb_roi(lt_roi.x + detection.width, lt_roi.y + detection.height);
           fitInFrame(lt_roi, rb_roi, cv::Size(original_image.size()));
-          tensorrt_yolox::Object det = detection;
+          autoware::tensorrt_yolox::Object det = detection;
           det.x_offset = lt_roi.x;
           det.y_offset = lt_roi.y;
           det.width = rb_roi.x - lt_roi.x;
@@ -214,8 +214,8 @@ void TrafficLightFineDetectorNode::callback(
 
 float TrafficLightFineDetectorNode::evalMatchScore(
   std::map<int, TrafficLightRoi> & id2expectRoi,
-  std::map<int, tensorrt_yolox::ObjectArray> & id2detections,
-  std::map<int, tensorrt_yolox::Object> & id2bestDetection)
+  std::map<int, autoware::tensorrt_yolox::ObjectArray> & id2detections,
+  std::map<int, autoware::tensorrt_yolox::Object> & id2bestDetection)
 {
   float score_sum = 0.0f;
   id2bestDetection.clear();
@@ -223,7 +223,7 @@ float TrafficLightFineDetectorNode::evalMatchScore(
     int tlr_id = roi_p.first;
     float max_score = 0.0f;
     const sensor_msgs::msg::RegionOfInterest & expected_roi = roi_p.second.roi;
-    for (const tensorrt_yolox::Object & detection : id2detections[tlr_id]) {
+    for (const autoware::tensorrt_yolox::Object & detection : id2detections[tlr_id]) {
       float score = ::calWeightedIou(expected_roi, detection);
       if (score >= max_score) {
         max_score = score;
@@ -237,17 +237,18 @@ float TrafficLightFineDetectorNode::evalMatchScore(
 
 void TrafficLightFineDetectorNode::detectionMatch(
   std::map<int, TrafficLightRoi> & id2expectRoi,
-  std::map<int, tensorrt_yolox::ObjectArray> & id2detections, TrafficLightRoiArray & out_rois)
+  std::map<int, autoware::tensorrt_yolox::ObjectArray> & id2detections,
+  TrafficLightRoiArray & out_rois)
 {
   float max_score = 0.0f;
-  std::map<int, tensorrt_yolox::Object> bestDetections;
+  std::map<int, autoware::tensorrt_yolox::Object> bestDetections;
   for (const auto & roi_pair : id2expectRoi) {
     int tlr_id = roi_pair.first;
     // the expected roi calculated from tf information
     const sensor_msgs::msg::RegionOfInterest & expect_roi = roi_pair.second.roi;
     int expect_cx = expect_roi.x_offset + expect_roi.width / 2;
     int expect_cy = expect_roi.y_offset + expect_roi.height / 2;
-    for (const tensorrt_yolox::Object & det : id2detections[tlr_id]) {
+    for (const autoware::tensorrt_yolox::Object & det : id2detections[tlr_id]) {
       // for every detection, calculate the center offset between the detection and the
       // corresponding expected roi
       int det_cx = det.x_offset + det.width / 2;
@@ -261,7 +262,7 @@ void TrafficLightFineDetectorNode::detectionMatch(
         p.second.roi.y_offset += dy;
       }
       // calculate the "match score" between expected rois and id2detections_copy
-      std::map<int, tensorrt_yolox::Object> id2bestDetection;
+      std::map<int, autoware::tensorrt_yolox::Object> id2bestDetection;
       float score = evalMatchScore(id2expectRoi_copy, id2detections, id2bestDetection);
       if (score > max_score) {
         max_score = score;
diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp
index a5ae22946e9ab..bf2342acf5ad2 100644
--- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp
+++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp
@@ -15,12 +15,12 @@
 #ifndef TRAFFIC_LIGHT_FINE_DETECTOR_NODE_HPP_
 #define TRAFFIC_LIGHT_FINE_DETECTOR_NODE_HPP_
 
+#include <autoware/tensorrt_yolox/tensorrt_yolox.hpp>
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tensorrt_yolox/tensorrt_yolox.hpp>
 
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/image.hpp>
@@ -94,8 +94,8 @@ class TrafficLightFineDetectorNode : public rclcpp::Node
    */
   float evalMatchScore(
     std::map<int, TrafficLightRoi> & id2expectRoi,
-    std::map<int, tensorrt_yolox::ObjectArray> & id2detections,
-    std::map<int, tensorrt_yolox::Object> & id2bestDetection);
+    std::map<int, autoware::tensorrt_yolox::ObjectArray> & id2detections,
+    std::map<int, autoware::tensorrt_yolox::Object> & id2bestDetection);
   /**
    * @brief Every traffic light roi might have several possible detections. This function
    * is designed to select the best detection for every traffic light by making use of
@@ -114,7 +114,8 @@ class TrafficLightFineDetectorNode : public rclcpp::Node
    */
   void detectionMatch(
     std::map<int, TrafficLightRoi> & id2expectRoi,
-    std::map<int, tensorrt_yolox::ObjectArray> & id2detections, TrafficLightRoiArray & out_rois);
+    std::map<int, autoware::tensorrt_yolox::ObjectArray> & id2detections,
+    TrafficLightRoiArray & out_rois);
 
   /**
    * @brief convert image message to cv::Mat
@@ -167,8 +168,8 @@ class TrafficLightFineDetectorNode : public rclcpp::Node
   std::vector<int> tlr_label_id_;
 
   int batch_size_;
-  std::unique_ptr<tensorrt_yolox::TrtYoloX> trt_yolox_;
-};  // TrafficLightFineDetectorNode
+  std::unique_ptr<autoware::tensorrt_yolox::TrtYoloX> trt_yolox_;
+};  // TrafficLightFineDetectorNodelet
 
 }  // namespace autoware::traffic_light