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/camera_lidar_fusion_based_detection.launch.xml
index cf18f6c691878..dfa276856321d 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/camera_lidar_fusion_based_detection.launch.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface param -->
+  <!-- Interface parameters -->
   <arg name="output/objects" default="objects"/>
 
-  <!-- LiDAR param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="container_name" default="pointcloud_container"/>
@@ -18,7 +18,7 @@
   <arg name="trust_distance" default="30.0"/>
   <arg name="use_roi_based_cluster" default="false"/>
 
-  <!-- Camera param -->
+  <!-- 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"/>
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
index 2bd007b658978..38d141241c215 100644
--- 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
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Interface param -->
+  <!-- Interface parameters -->
   <arg name="output/objects" default="objects"/>
 
-  <!-- LiDAR param -->
+  <!-- LiDAR parameters -->
   <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="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="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"/>
@@ -17,7 +17,7 @@
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- Camera param -->
+  <!-- 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"/>
@@ -44,8 +44,11 @@
   <arg name="detection_rois7" default="/perception/object_recognition/detection/rois7"/>
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
-  <!-- Radar param -->
+  <!-- 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"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -60,7 +63,7 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- Radar detection-->
+  <!-- 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">
@@ -102,6 +105,48 @@
       </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="$(var image_raw7)"/>
+        <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
+        <arg name="output_clusters" value="roi_cluster/clusters"/>
+      </include>
+    </group>
+
+    <!-- simple_cluster_merger -->
+    <group>
+      <include file="$(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"/>
@@ -113,6 +158,8 @@
       <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)"/>
@@ -141,54 +188,12 @@
           <arg name="input/image5" value="$(var image_raw5)"/>
           <arg name="input/image6" value="$(var image_raw6)"/>
           <arg name="input/image7" value="$(var image_raw7)"/>
-          <arg name="output/clusters" value="euclidean_cluster/clusters"/>
+          <arg name="output/clusters" value="clusters"/>
           <arg name="remove_unknown" value="$(var remove_unknown)"/>
           <arg name="trust_distance" value="$(var trust_distance)"/>
         </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="$(var image_raw7)"/>
-          <arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
-          <arg name="output_clusters" value="roi_cluster/clusters"/>
-        </include>
-      </group>
-
-      <!-- simple_cluster_merger -->
-      <group>
-        <include file="$(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"/>
@@ -218,7 +223,7 @@
       <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="$(var score_threshold)"/>
+        <arg name="score_threshold" value="$(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"/>
@@ -290,17 +295,20 @@
     </include>
   </group>
 
-  <!-- Radar fusion-->
+  <!-- Radar fusion -->
   <group>
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+    <include file="$(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-->
+  <!-- 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)"/>
@@ -327,7 +335,7 @@
       <arg name="input/image5" value="$(var image_raw5)"/>
       <arg name="input/image6" value="$(var image_raw6)"/>
       <arg name="input/image7" value="$(var image_raw7)"/>
-      <arg name="input/objects" value="radar_fusion/objects"/>
+      <arg name="input/objects" value="$(var target_objects)"/>
       <arg name="output/objects" value="$(var lidar_detection_model)/roi_fusion/objects"/>
     </include>
   </group>
@@ -381,7 +389,7 @@
   <group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="output/object" value="near_objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
     </include>
   </group>
@@ -389,8 +397,19 @@
   <group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
     <include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml" if="$(var use_object_filter)">
       <arg name="input/object" value="objects_before_filter"/>
-      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="output/object" value="near_objects"/>
       <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
     </include>
   </group>
+
+  <!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
+  <include file="$(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>
 </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 ab55047132482..77a3e345ec5e8 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
@@ -1,15 +1,16 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- Interface parameters -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
-  <!-- lidar param -->
+  <!-- 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"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
 
-  <!-- camera param -->
+  <!-- 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="image_raw1" default=""/>
@@ -28,14 +29,15 @@
   <arg name="camera_info7" default=""/>
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
-  <!-- camera lidar fusion param -->
+  <!-- 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"/>
+
+  <!-- Camera-LiDAR fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- radar param -->
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-
-  <!-- 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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -63,13 +65,16 @@
       <arg name="container_name" value="$(var container_name)"/>
       <arg name="remove_unknown" value="$(var remove_unknown)"/>
       <arg name="trust_distance" value="$(var trust_distance)"/>
-      <arg name="input/radar" value="$(var input/radar)"/>
       <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="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+      <arg name="input/radar" value="$(var input/radar)"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -100,7 +105,7 @@
     </include>
   </group>
 
-  <!-- lidar radar based detection-->
+  <!-- LiDAR-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -109,12 +114,14 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+      <arg name="use_low_height_cropbox" value="$(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>
   </group>
 
-  <!-- lidar based detection-->
+  <!-- LiDAR based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
@@ -127,11 +134,12 @@
     </include>
   </group>
 
-  <!-- radar based detection-->
+  <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index ebe96200b6883..c122cac5031e3 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -8,7 +8,14 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
-  <arg name="score_threshold" default="0.35"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
+  <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
+  <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <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>
@@ -63,7 +70,7 @@
       <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="$(var score_threshold)"/>
+        <arg name="score_threshold" value="$(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"/>
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
index 4756fc9338e46..cee6829ea3b4a 100644
--- 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
@@ -1,17 +1,18 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- lidar param -->
+  <!-- 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="container_name" default="pointcloud_container"/>
-  <arg name="score_threshold" default="0.20"/>
+  <arg name="lidar_detection_score_threshold" default="0.35"/>
 
-  <!-- radar param -->
+  <!-- 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"/>
 
-  <!-- lidar based detection-->
+  <!-- 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)"/>
@@ -22,11 +23,11 @@
       <arg name="use_object_filter" value="$(var use_object_filter)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="container_name" value="$(var container_name)"/>
-      <arg name="score_threshold" value="$(var score_threshold)"/>
+      <arg name="lidar_detection_score_threshold" value="$(var lidar_detection_score_threshold)"/>
     </include>
   </group>
 
-  <!-- radar detection-->
+  <!-- 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">
@@ -42,7 +43,7 @@
     </include>
   </group>
 
-  <!-- lidar radar fusion-->
+  <!-- LiDAR-Radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
     <arg name="input/objects" value="lidar/objects"/>
     <arg name="input/radars" value="radar/noise_filtered_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
index 8e2e23b510a07..5b5646a061ac7 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -2,14 +2,14 @@
 <launch>
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <arg name="output/objects" default="far_objects"/>
-  <arg name="filter/angle_threshold" default="1.0472"/>
-  <arg name="filter/velocity_threshold" default="3.0"/>
-  <arg name="split/velocity_threshold" default="4.5"/>
-  <arg name="split_range" default="70.0"/>
-  <arg name="clustering/angle_threshold" default="0.174"/>
+  <arg name="filter/angle_threshold" default="1.221"/>
+  <arg name="filter/velocity_threshold" default="1.5"/>
+  <arg name="split/velocity_threshold" default="5.5"/>
+  <arg name="split_range" default="80.0"/>
+  <arg name="clustering/angle_threshold" default="0.349"/>
   <arg name="clustering/distance_threshold" default="10.0"/>
-  <arg name="clustering/velocity_threshold" default="4.0"/>
-  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/>
+  <arg name="clustering/velocity_threshold" default="5.0"/>
+  <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
 
   <!-- Detection for far dynamic objects -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
@@ -20,14 +20,8 @@
     <arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
   </include>
 
-  <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
-    <arg name="input/object" value="noise_filtered_objects"/>
-    <arg name="output/object" value="lanelet_filtered_objects"/>
-    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
-  </include>
-
   <include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
-    <arg name="input/objects" value="lanelet_filtered_objects"/>
+    <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
     <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
@@ -40,8 +34,14 @@
     <arg name="split_range" value="$(var split_range)"/>
   </include>
 
+  <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
+    <arg name="input/object" value="far_high_speed_objects"/>
+    <arg name="output/object" value="lanelet_filtered_objects"/>
+    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+  </include>
+
   <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
-    <arg name="input/objects" value="far_high_speed_objects"/>
+    <arg name="input/objects" value="lanelet_filtered_objects"/>
     <arg name="output/objects" value="$(var output/objects)"/>
     <arg name="angle_threshold" value="$(var clustering/angle_threshold)"/>
     <arg name="distance_threshold" value="$(var clustering/distance_threshold)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index 1ba1e8de9d42e..77de1e5995ee0 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -15,6 +15,7 @@
     </include>
 
     <!--radar long range dynamic object tracking if mode contains radar input-->
+    <!--
     <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot; or &quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot; or &quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
       <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
         <arg name="publish_rate" value="$(var publish_rate)"/>
@@ -25,5 +26,6 @@
         <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
       </include>
     </group>
+    -->
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index acc14b1dcbe24..6b4877b771f20 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -11,6 +11,7 @@
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path"/>
   <arg name="object_recognition_detection_fusion_sync_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
@@ -21,11 +22,11 @@
   <arg name="occupancy_grid_map_updater"/>
   <arg name="occupancy_grid_map_updater_param_path"/>
 
-  <!-- centerpoint model configs -->
+  <!-- CenterPoint model parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
 
-  <!-- common parameters -->
+  <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
@@ -66,20 +67,36 @@
   />
   <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container"/>
-  <!-- Traffic Light Recognition Parameters -->
+  <arg name="objects_filter_method" default="lanelet_filter"/>
+  <arg name="objects_validation_method" default="obstacle_pointcloud"/>
+
+  <!-- Traffic light recognition parameters -->
   <arg name="use_traffic_light_recognition" default="true"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
   <arg name="traffic_light_recognition/fusion_only" default="false"/>
   <arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
-  <!-- Camera Lidar Fusion Parameters -->
+  <arg
+    name="traffic_light_fine_detector_model_path"
+    default="$(find-pkg-share traffic_light_fine_detector)/data"
+    description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"
+  />
+  <arg name="traffic_light_fine_detector_model_name" default="tlr_yolox_s_batch_6" description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"/>
+  <arg name="traffic_light_classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data" description="classifier onnx model path"/>
+  <arg
+    name="traffic_light_classifier_model_name"
+    default="traffic_light_classifier_mobilenetv2_batch_6"
+    description="options: `traffic_light_classifier_mobilenetv2_batch_*` or `traffic_light_classifier_efficientNet_b1_batch_*`. The batch number must be either one of 1, 4, 6"
+  />
+
+  <!-- Camera-Lidar fusion parameters -->
   <arg name="remove_unknown" default="true"/>
   <arg name="trust_distance" default="30.0"/>
 
-  <!-- perception module -->
+  <!-- Perception module -->
   <group>
     <push-ros-namespace namespace="perception"/>
 
-    <!-- object segmentation module -->
+    <!-- Object segmentation module -->
     <group>
       <push-ros-namespace namespace="obstacle_segmentation"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
@@ -92,7 +109,7 @@
       </include>
     </group>
 
-    <!-- occupancy grid map module -->
+    <!-- Occupancy grid map module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
@@ -110,10 +127,10 @@
       </include>
     </group>
 
-    <!-- object recognition module -->
+    <!-- Object recognition module -->
     <group unless="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
-      <!-- detection module -->
+      <!-- Detection module -->
       <group>
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
@@ -142,6 +159,7 @@
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
+          <arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
           <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)"/>
@@ -153,14 +171,15 @@
         </include>
       </group>
 
-      <!-- tracking module -->
+      <!-- Tracking module -->
       <group>
         <push-ros-namespace namespace="tracking"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
           <arg name="mode" value="$(var mode)"/>
         </include>
       </group>
-      <!-- prediction module -->
+
+      <!-- Prediction module -->
       <group>
         <push-ros-namespace namespace="prediction"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
@@ -176,7 +195,7 @@
       </node>
     </group>
 
-    <!-- traffic light module -->
+    <!-- Traffic light module -->
     <group if="$(var use_traffic_light_recognition)">
       <push-ros-namespace namespace="traffic_light_recognition"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
diff --git a/perception/object_merger/include/object_association_merger/node.hpp b/perception/object_merger/include/object_association_merger/node.hpp
index 1e5b9fad9c9ca..6815b59894083 100644
--- a/perception/object_merger/include/object_association_merger/node.hpp
+++ b/perception/object_merger/include/object_association_merger/node.hpp
@@ -59,14 +59,16 @@ class ObjectAssociationMergerNode : public rclcpp::Node
   tf2_ros::TransformListener tf_listener_;
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::DetectedObjects>::SharedPtr
     merged_object_pub_;
-  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object0_sub_;
-  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object1_sub_;
-  typedef message_filters::sync_policies::ApproximateTime<
+  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object0_sub_{};
+  message_filters::Subscriber<autoware_auto_perception_msgs::msg::DetectedObjects> object1_sub_{};
+
+  using SyncPolicy = message_filters::sync_policies::ApproximateTime<
     autoware_auto_perception_msgs::msg::DetectedObjects,
-    autoware_auto_perception_msgs::msg::DetectedObjects>
-    SyncPolicy;
-  typedef message_filters::Synchronizer<SyncPolicy> Sync;
-  Sync sync_;
+    autoware_auto_perception_msgs::msg::DetectedObjects>;
+  using Sync = message_filters::Synchronizer<SyncPolicy>;
+  typename std::shared_ptr<Sync> sync_ptr_;
+
+  int sync_queue_size_;
   std::unique_ptr<DataAssociation> data_association_;
   std::string base_link_frame_id_;  // associated with the base_link frame
 
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 3418f7d5a5e61..5754c256fef3c 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -6,6 +6,7 @@
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="sync_queue_size" default="20"/>
 
   <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
@@ -14,6 +15,7 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
     <param name="priority_mode" value="$(var priority_mode)"/>
+    <param name="sync_queue_size" value="$(var sync_queue_size)"/>
     <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
     <param name="remove_overlapped_unknown_objects" value="true"/>
   </node>
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index 4f600ce8a4948..22d0ac273a140 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -77,20 +77,13 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   tf_buffer_(get_clock()),
   tf_listener_(tf_buffer_),
   object0_sub_(this, "input/object0", rclcpp::QoS{1}.get_rmw_qos_profile()),
-  object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile()),
-  sync_(SyncPolicy(10), object0_sub_, object1_sub_)
+  object1_sub_(this, "input/object1", rclcpp::QoS{1}.get_rmw_qos_profile())
 {
-  // Create publishers and subscribers
-  using std::placeholders::_1;
-  using std::placeholders::_2;
-  sync_.registerCallback(std::bind(&ObjectAssociationMergerNode::objectsCallback, this, _1, _2));
-  merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
-    "output/object", rclcpp::QoS{1});
-
   // Parameters
   base_link_frame_id_ = declare_parameter<std::string>("base_link_frame_id", "base_link");
   priority_mode_ = static_cast<PriorityMode>(
     declare_parameter<int>("priority_mode", static_cast<int>(PriorityMode::Confidence)));
+  sync_queue_size_ = declare_parameter<int>("sync_queue_size", 20);
   remove_overlapped_unknown_objects_ =
     declare_parameter<bool>("remove_overlapped_unknown_objects", true);
   overlapped_judge_param_.precision_threshold =
@@ -115,6 +108,16 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   const auto min_iou_matrix = this->declare_parameter<std::vector<double>>("min_iou_matrix");
   data_association_ = std::make_unique<DataAssociation>(
     can_assign_matrix, max_dist_matrix, max_rad_matrix, min_iou_matrix);
+
+  // Create publishers and subscribers
+  using std::placeholders::_1;
+  using std::placeholders::_2;
+  sync_ptr_ = std::make_shared<Sync>(SyncPolicy(sync_queue_size_), object0_sub_, object1_sub_);
+  sync_ptr_->registerCallback(
+    std::bind(&ObjectAssociationMergerNode::objectsCallback, this, _1, _2));
+
+  merged_object_pub_ = create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
+    "output/object", rclcpp::QoS{1});
 }
 
 void ObjectAssociationMergerNode::objectsCallback(
diff --git a/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp b/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
index 8e909e4fc08c8..a65302aea866d 100644
--- a/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
+++ b/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
@@ -97,7 +97,7 @@ RadarObjectFusionToDetectedObjectNode::RadarObjectFusionToDetectedObjectNode(
 
   using std::placeholders::_1;
   using std::placeholders::_2;
-  sync_ptr_ = std::make_shared<Sync>(SyncPolicy(10), sub_object_, sub_radar_);
+  sync_ptr_ = std::make_shared<Sync>(SyncPolicy(20), sub_object_, sub_radar_);
   sync_ptr_->registerCallback(
     std::bind(&RadarObjectFusionToDetectedObjectNode::onData, this, _1, _2));
 
diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
index 506a40e672fb6..1f3e4eb3792ac 100644
--- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
+++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -168,7 +168,7 @@ void SimpleObjectMergerNode::onTimer()
   output_objects.header.frame_id = node_param_.new_frame_id;
 
   for (size_t i = 0; i < input_topic_size; i++) {
-    double time_diff = (this->get_clock()->now()).seconds() -
+    double time_diff = rclcpp::Time(objects_data_.at(i)->header.stamp).seconds() -
                        rclcpp::Time(objects_data_.at(0)->header.stamp).seconds();
     if (std::abs(time_diff) < node_param_.timeout_threshold) {
       transform_ = transform_listener_->getTransform(