diff --git a/localization/yabloc/imgproc/graph_segment/CMakeLists.txt b/localization/yabloc/imgproc/graph_segment/CMakeLists.txt
deleted file mode 100644
index e31b6d13ed2b2..0000000000000
--- a/localization/yabloc/imgproc/graph_segment/CMakeLists.txt
+++ /dev/null
@@ -1,35 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(graph_segment)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# OpenCV
-find_package(OpenCV REQUIRED)
-
-# ===================================================
-# Executable
-set(TARGET graph_segment_node)
-ament_auto_add_executable(${TARGET} src/graph_segment_node.cpp src/graph_segment_core src/similar_area_searcher.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${OpenCV_LIBS})
-
-# ===================================================
-ament_auto_package(INSTALL_TO_SHARE config)
\ No newline at end of file
diff --git a/localization/yabloc/imgproc/graph_segment/package.xml b/localization/yabloc/imgproc/graph_segment/package.xml
deleted file mode 100644
index cc0de841996e1..0000000000000
--- a/localization/yabloc/imgproc/graph_segment/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>graph_segment</name>
-  <version>0.0.0</version>
-  <description>graph based segmentation</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>yabloc_common</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
-
-
diff --git a/localization/yabloc/imgproc/lsd/CMakeLists.txt b/localization/yabloc/imgproc/lsd/CMakeLists.txt
deleted file mode 100644
index c5944f6e5b3e0..0000000000000
--- a/localization/yabloc/imgproc/lsd/CMakeLists.txt
+++ /dev/null
@@ -1,35 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(lsd)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# OpenCV
-find_package(OpenCV REQUIRED)
-
-# ===================================================
-# Executable
-set(TARGET lsd_node)
-ament_auto_add_executable(${TARGET} src/lsd_node.cpp src/lsd_core.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${OpenCV_LIBS})
-
-# ===================================================
-ament_auto_package()
\ No newline at end of file
diff --git a/localization/yabloc/imgproc/lsd/package.xml b/localization/yabloc/imgproc/lsd/package.xml
deleted file mode 100644
index 951894704536b..0000000000000
--- a/localization/yabloc/imgproc/lsd/package.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lsd</name>
-  <version>0.0.0</version>
-  <description>line segment detection</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>pcl_conversions</depend>
-
-  <depend>yabloc_common</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
-
-
diff --git a/localization/yabloc/imgproc/segment_filter/CMakeLists.txt b/localization/yabloc/imgproc/segment_filter/CMakeLists.txt
deleted file mode 100644
index c6e87479291b8..0000000000000
--- a/localization/yabloc/imgproc/segment_filter/CMakeLists.txt
+++ /dev/null
@@ -1,39 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(segment_filter)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# OpenCV
-find_package(OpenCV REQUIRED)
-
-# PCL
-find_package(PCL REQUIRED COMPONENTS common)
-
-# ===================================================
-# Executable
-set(TARGET segment_filter_node)
-ament_auto_add_executable(${TARGET}
-  src/segment_filter_node.cpp
-  src/segment_filter_core.cpp)
-target_include_directories(${TARGET} PUBLIC include ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES} ${OpenCV_LIBS})
-
-# ===================================================
-ament_auto_package(INSTALL_TO_SHARE config)
\ No newline at end of file
diff --git a/localization/yabloc/imgproc/undistort/CMakeLists.txt b/localization/yabloc/imgproc/undistort/CMakeLists.txt
deleted file mode 100644
index cc0e985c346c0..0000000000000
--- a/localization/yabloc/imgproc/undistort/CMakeLists.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(undistort)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# OpenCV
-find_package(OpenCV REQUIRED)
-
-# ===================================================
-# Executable
-set(TARGET undistort_node)
-ament_auto_add_executable(${TARGET} src/undistort_node.cpp)
-target_link_libraries(${TARGET} ${OpenCV_LIBS})
-
-# ===================================================
-ament_auto_package(INSTALL_TO_SHARE launch config)
\ No newline at end of file
diff --git a/localization/yabloc/imgproc/undistort/launch/undistort.launch.xml b/localization/yabloc/imgproc/undistort/launch/undistort.launch.xml
deleted file mode 100644
index ce2ed66ae9f39..0000000000000
--- a/localization/yabloc/imgproc/undistort/launch/undistort.launch.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-    <arg name="use_sim_time" default="true"/>
-    <arg name="log_level" default="warn"/>
-
-    <!-- ========================================= -->
-    <!-- ============ undistort & resize ========= -->
-    <!-- ========================================= -->
-    <node name="undistort" pkg="vmvl_imgproc" exec="undistort_node" output="screen" args="--ros-args --log-level $(var log_level)">
-        <param name="use_sim_time" value="$(var use_sim_time)"/>
-        <param name="width" value="-1"/>
-        <remap from="/sensing/camera/undistorted/image_raw" to="/sensing/camera/traffic_light/image_raw_rect"/>
-    </node>
-</launch>
-
diff --git a/localization/yabloc/imgproc/undistort/package.xml b/localization/yabloc/imgproc/undistort/package.xml
deleted file mode 100644
index 28c1e73994e92..0000000000000
--- a/localization/yabloc/imgproc/undistort/package.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>undistort</name>
-  <version>0.0.0</version>
-  <description>undistort and resize</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>pcl_conversions</depend>
-
-  <depend>yabloc_common</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
-
-
diff --git a/localization/yabloc/validation/lanelet2_overlay_monitor/CMakeLists.txt b/localization/yabloc/validation/lanelet2_overlay_monitor/CMakeLists.txt
deleted file mode 100644
index 1e56a9370df59..0000000000000
--- a/localization/yabloc/validation/lanelet2_overlay_monitor/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(lanelet2_overlay_monitor)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# PCL
-find_package(PCL REQUIRED COMPONENTS common)
-
-# Sophus
-find_package(Sophus REQUIRED)
-
-# ===================================================
-# Executable
-set(TARGET lanelet2_overlay_monitor_node)
-ament_auto_add_executable(${TARGET} src/lanelet2_overlay_monitor_core.cpp src/lanelet2_overlay_monitor_node.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES})
-
-# ===================================================
-ament_auto_package()
diff --git a/localization/yabloc/validation/lanelet2_overlay_monitor/package.xml b/localization/yabloc/validation/lanelet2_overlay_monitor/package.xml
deleted file mode 100644
index 27c8ba7e51488..0000000000000
--- a/localization/yabloc/validation/lanelet2_overlay_monitor/package.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>lanelet2_overlay_monitor</name>
-  <version>0.0.0</version>
-  <description>overlay lanelet2 onto camera image</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>ublox_msgs</depend>
-
-  <depend>yabloc_common</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/localization/yabloc/validation/line_segments_overlay_monitor/CMakeLists.txt b/localization/yabloc/validation/line_segments_overlay_monitor/CMakeLists.txt
deleted file mode 100644
index e5bf0f587006e..0000000000000
--- a/localization/yabloc/validation/line_segments_overlay_monitor/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(line_segments_overlay_monitor)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# PCL
-find_package(PCL REQUIRED COMPONENTS common)
-
-# Sophus
-find_package(Sophus REQUIRED)
-
-# ===================================================
-# Executable
-set(TARGET line_segments_overlay_monitor_node)
-ament_auto_add_executable(${TARGET} src/line_segments_overlay_monitor_core.cpp src/line_segments_overlay_monitor_node.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES})
-
-# ===================================================
-ament_auto_package()
diff --git a/localization/yabloc/validation/line_segments_overlay_monitor/package.xml b/localization/yabloc/validation/line_segments_overlay_monitor/package.xml
deleted file mode 100644
index 4003587c67b68..0000000000000
--- a/localization/yabloc/validation/line_segments_overlay_monitor/package.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>line_segments_overlay_monitor</name>
-  <version>0.0.0</version>
-  <description>overlay detected line segments onto camera image</description>
-  <maintainer email="koji.minoda@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>ublox_msgs</depend>
-
-  <depend>yabloc_common</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/localization/yabloc/yabloc_imgproc/CMakeLists.txt b/localization/yabloc/yabloc_imgproc/CMakeLists.txt
new file mode 100644
index 0000000000000..ccc676d76b9c5
--- /dev/null
+++ b/localization/yabloc/yabloc_imgproc/CMakeLists.txt
@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.5)
+project(yabloc_imgproc)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# ===================================================
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# ===================================================
+# Eigen3
+find_package(Eigen3 REQUIRED)
+
+# OpenCV
+find_package(OpenCV REQUIRED)
+
+# PCL
+find_package(PCL REQUIRED COMPONENTS common)
+
+# Sophus
+find_package(Sophus REQUIRED)
+
+# ===================================================
+# Executable
+# line segment detection
+set(TARGET lsd_node)
+ament_auto_add_executable(${TARGET}
+  src/lsd/lsd_node.cpp
+  src/lsd/lsd_core.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${OpenCV_LIBS})
+
+# graph based segmentation
+set(TARGET graph_segment_node)
+ament_auto_add_executable(${TARGET}
+  src/graph_segment/graph_segment_node.cpp
+  src/graph_segment/graph_segment_core
+  src/graph_segment/similar_area_searcher.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${OpenCV_LIBS})
+
+# segment filter
+set(TARGET segment_filter_node)
+ament_auto_add_executable(${TARGET}
+  src/segment_filter/segment_filter_node.cpp
+  src/segment_filter/segment_filter_core.cpp)
+target_include_directories(${TARGET} PUBLIC include ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+
+# undistort
+set(TARGET undistort_node)
+ament_auto_add_executable(${TARGET}
+  src/undistort/undistort_node.cpp)
+target_link_libraries(${TARGET} ${OpenCV_LIBS})
+
+# line_segments_overlay
+set(TARGET line_segments_overlay_node)
+ament_auto_add_executable(${TARGET}
+  src/line_segments_overlay/line_segments_overlay_core.cpp
+  src/line_segments_overlay/line_segments_overlay_node.cpp)
+target_include_directories(${TARGET} PUBLIC include ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES})
+
+# lanelet2_overlay
+set(TARGET lanelet2_overlay_node)
+ament_auto_add_executable(${TARGET}
+  src/lanelet2_overlay/lanelet2_overlay_core.cpp
+  src/lanelet2_overlay/lanelet2_overlay_node.cpp)
+target_include_directories(${TARGET} PUBLIC include ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES})
+
+# ===================================================
+ament_auto_package(INSTALL_TO_SHARE config)
\ No newline at end of file
diff --git a/localization/yabloc/imgproc/graph_segment/config/graph_segment.param.yaml b/localization/yabloc/yabloc_imgproc/config/graph_segment.param.yaml
similarity index 100%
rename from localization/yabloc/imgproc/graph_segment/config/graph_segment.param.yaml
rename to localization/yabloc/yabloc_imgproc/config/graph_segment.param.yaml
diff --git a/localization/yabloc/imgproc/segment_filter/config/segment_filter.param.yaml b/localization/yabloc/yabloc_imgproc/config/segment_filter.param.yaml
similarity index 100%
rename from localization/yabloc/imgproc/segment_filter/config/segment_filter.param.yaml
rename to localization/yabloc/yabloc_imgproc/config/segment_filter.param.yaml
diff --git a/localization/yabloc/imgproc/undistort/config/undistort.param.yaml b/localization/yabloc/yabloc_imgproc/config/undistort.param.yaml
similarity index 100%
rename from localization/yabloc/imgproc/undistort/config/undistort.param.yaml
rename to localization/yabloc/yabloc_imgproc/config/undistort.param.yaml
diff --git a/localization/yabloc/imgproc/graph_segment/include/graph_segment/graph_segment.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/graph_segment.hpp
similarity index 96%
rename from localization/yabloc/imgproc/graph_segment/include/graph_segment/graph_segment.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/graph_segment.hpp
index 9485c00881253..0b31105c992fe 100644
--- a/localization/yabloc/imgproc/graph_segment/include/graph_segment/graph_segment.hpp
+++ b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/graph_segment.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #pragma once
-#include "graph_segment/similar_area_searcher.hpp"
+#include "yabloc_imgproc/graph_segment/similar_area_searcher.hpp"
 
 #include <opencv4/opencv2/ximgproc/segmentation.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/localization/yabloc/imgproc/graph_segment/include/graph_segment/histogram.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/histogram.hpp
similarity index 100%
rename from localization/yabloc/imgproc/graph_segment/include/graph_segment/histogram.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/histogram.hpp
diff --git a/localization/yabloc/imgproc/graph_segment/include/graph_segment/similar_area_searcher.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/similar_area_searcher.hpp
similarity index 100%
rename from localization/yabloc/imgproc/graph_segment/include/graph_segment/similar_area_searcher.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/graph_segment/similar_area_searcher.hpp
diff --git a/localization/yabloc/validation/lanelet2_overlay_monitor/include/lanelet2_overlay_monitor/lanelet2_overlay_monitor.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/lanelet2_overlay/lanelet2_overlay.hpp
similarity index 100%
rename from localization/yabloc/validation/lanelet2_overlay_monitor/include/lanelet2_overlay_monitor/lanelet2_overlay_monitor.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/lanelet2_overlay/lanelet2_overlay.hpp
diff --git a/localization/yabloc/validation/line_segments_overlay_monitor/include/line_segments_overlay_monitor/line_segments_overlay_monitor.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/line_segments_overlay/line_segments_overlay.hpp
similarity index 100%
rename from localization/yabloc/validation/line_segments_overlay_monitor/include/line_segments_overlay_monitor/line_segments_overlay_monitor.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/line_segments_overlay/line_segments_overlay.hpp
diff --git a/localization/yabloc/imgproc/lsd/include/lsd/lsd.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/lsd/lsd.hpp
similarity index 100%
rename from localization/yabloc/imgproc/lsd/include/lsd/lsd.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/lsd/lsd.hpp
diff --git a/localization/yabloc/imgproc/segment_filter/include/segment_filter/segment_filter.hpp b/localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/segment_filter/segment_filter.hpp
similarity index 100%
rename from localization/yabloc/imgproc/segment_filter/include/segment_filter/segment_filter.hpp
rename to localization/yabloc/yabloc_imgproc/include/yabloc_imgproc/segment_filter/segment_filter.hpp
diff --git a/localization/yabloc/imgproc/segment_filter/package.xml b/localization/yabloc/yabloc_imgproc/package.xml
similarity index 88%
rename from localization/yabloc/imgproc/segment_filter/package.xml
rename to localization/yabloc/yabloc_imgproc/package.xml
index 528f350261bcf..7c8a4df97dca8 100644
--- a/localization/yabloc/imgproc/segment_filter/package.xml
+++ b/localization/yabloc/yabloc_imgproc/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>segment_filter</name>
+  <name>yabloc_imgproc</name>
   <version>0.0.0</version>
-  <description>line segmentation filter</description>
+  <description>image processing package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <license>Apache License 2.0</license>
 
@@ -18,6 +18,7 @@
   <depend>visualization_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>pcl_conversions</depend>
+  <depend>sophus</depend>
 
   <depend>yabloc_common</depend>
 
diff --git a/localization/yabloc/imgproc/graph_segment/src/graph_segment_core.cpp b/localization/yabloc/yabloc_imgproc/src/graph_segment/graph_segment_core.cpp
similarity index 97%
rename from localization/yabloc/imgproc/graph_segment/src/graph_segment_core.cpp
rename to localization/yabloc/yabloc_imgproc/src/graph_segment/graph_segment_core.cpp
index a9f4ff85ecaa4..db1b08a500e01 100644
--- a/localization/yabloc/imgproc/graph_segment/src/graph_segment_core.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/graph_segment/graph_segment_core.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "graph_segment/graph_segment.hpp"
-#include "graph_segment/histogram.hpp"
+#include "yabloc_imgproc/graph_segment/graph_segment.hpp"
+#include "yabloc_imgproc/graph_segment/histogram.hpp"
 
 #include <opencv4/opencv2/highgui.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
diff --git a/localization/yabloc/imgproc/graph_segment/src/graph_segment_node.cpp b/localization/yabloc/yabloc_imgproc/src/graph_segment/graph_segment_node.cpp
similarity index 92%
rename from localization/yabloc/imgproc/graph_segment/src/graph_segment_node.cpp
rename to localization/yabloc/yabloc_imgproc/src/graph_segment/graph_segment_node.cpp
index a954cd91d3030..4eb5aa222cd54 100644
--- a/localization/yabloc/imgproc/graph_segment/src/graph_segment_node.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/graph_segment/graph_segment_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "graph_segment/graph_segment.hpp"
+#include "yabloc_imgproc/graph_segment/graph_segment.hpp"
 
 int main(int argc, char * argv[])
 {
diff --git a/localization/yabloc/imgproc/graph_segment/src/similar_area_searcher.cpp b/localization/yabloc/yabloc_imgproc/src/graph_segment/similar_area_searcher.cpp
similarity index 96%
rename from localization/yabloc/imgproc/graph_segment/src/similar_area_searcher.cpp
rename to localization/yabloc/yabloc_imgproc/src/graph_segment/similar_area_searcher.cpp
index 81a3dac88f177..d02e3236be9c2 100644
--- a/localization/yabloc/imgproc/graph_segment/src/similar_area_searcher.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/graph_segment/similar_area_searcher.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "graph_segment/similar_area_searcher.hpp"
+#include "yabloc_imgproc/graph_segment/similar_area_searcher.hpp"
 
-#include "graph_segment/histogram.hpp"
+#include "yabloc_imgproc/graph_segment/histogram.hpp"
 
 #include <rclcpp/logging.hpp>
 
diff --git a/localization/yabloc/validation/lanelet2_overlay_monitor/src/lanelet2_overlay_monitor_core.cpp b/localization/yabloc/yabloc_imgproc/src/lanelet2_overlay/lanelet2_overlay_core.cpp
similarity index 99%
rename from localization/yabloc/validation/lanelet2_overlay_monitor/src/lanelet2_overlay_monitor_core.cpp
rename to localization/yabloc/yabloc_imgproc/src/lanelet2_overlay/lanelet2_overlay_core.cpp
index f4ab98b961d33..62ae60ebc61da 100644
--- a/localization/yabloc/validation/lanelet2_overlay_monitor/src/lanelet2_overlay_monitor_core.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/lanelet2_overlay/lanelet2_overlay_core.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lanelet2_overlay_monitor/lanelet2_overlay_monitor.hpp"
+#include "yabloc_imgproc/lanelet2_overlay/lanelet2_overlay.hpp"
 
 #include <eigen3/Eigen/StdVector>
 #include <opencv4/opencv2/calib3d.hpp>
diff --git a/localization/yabloc/validation/lanelet2_overlay_monitor/src/lanelet2_overlay_monitor_node.cpp b/localization/yabloc/yabloc_imgproc/src/lanelet2_overlay/lanelet2_overlay_node.cpp
similarity index 92%
rename from localization/yabloc/validation/lanelet2_overlay_monitor/src/lanelet2_overlay_monitor_node.cpp
rename to localization/yabloc/yabloc_imgproc/src/lanelet2_overlay/lanelet2_overlay_node.cpp
index 1d42bef690eab..3acf6dd8ecfbe 100644
--- a/localization/yabloc/validation/lanelet2_overlay_monitor/src/lanelet2_overlay_monitor_node.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/lanelet2_overlay/lanelet2_overlay_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lanelet2_overlay_monitor/lanelet2_overlay_monitor.hpp"
+#include "yabloc_imgproc/lanelet2_overlay/lanelet2_overlay.hpp"
 
 int main(int argc, char * argv[])
 {
diff --git a/localization/yabloc/validation/line_segments_overlay_monitor/src/line_segments_overlay_monitor_core.cpp b/localization/yabloc/yabloc_imgproc/src/line_segments_overlay/line_segments_overlay_core.cpp
similarity index 97%
rename from localization/yabloc/validation/line_segments_overlay_monitor/src/line_segments_overlay_monitor_core.cpp
rename to localization/yabloc/yabloc_imgproc/src/line_segments_overlay/line_segments_overlay_core.cpp
index 905ff15a32ab9..bb1c03933f2af 100644
--- a/localization/yabloc/validation/line_segments_overlay_monitor/src/line_segments_overlay_monitor_core.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/line_segments_overlay/line_segments_overlay_core.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "line_segments_overlay_monitor/line_segments_overlay_monitor.hpp"
+#include "yabloc_imgproc/line_segments_overlay/line_segments_overlay.hpp"
 
 #include <opencv4/opencv2/core/eigen.hpp>
 #include <yabloc_common/cv_decompress.hpp>
diff --git a/localization/yabloc/validation/line_segments_overlay_monitor/src/line_segments_overlay_monitor_node.cpp b/localization/yabloc/yabloc_imgproc/src/line_segments_overlay/line_segments_overlay_node.cpp
similarity index 91%
rename from localization/yabloc/validation/line_segments_overlay_monitor/src/line_segments_overlay_monitor_node.cpp
rename to localization/yabloc/yabloc_imgproc/src/line_segments_overlay/line_segments_overlay_node.cpp
index 91844f8fe2b3d..4332ee48d6bad 100644
--- a/localization/yabloc/validation/line_segments_overlay_monitor/src/line_segments_overlay_monitor_node.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/line_segments_overlay/line_segments_overlay_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "line_segments_overlay_monitor/line_segments_overlay_monitor.hpp"
+#include "yabloc_imgproc/line_segments_overlay/line_segments_overlay.hpp"
 
 int main(int argc, char * argv[])
 {
diff --git a/localization/yabloc/imgproc/lsd/src/lsd_core.cpp b/localization/yabloc/yabloc_imgproc/src/lsd/lsd_core.cpp
similarity index 95%
rename from localization/yabloc/imgproc/lsd/src/lsd_core.cpp
rename to localization/yabloc/yabloc_imgproc/src/lsd/lsd_core.cpp
index b1ae01b948820..bc0b25c2f4156 100644
--- a/localization/yabloc/imgproc/lsd/src/lsd_core.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/lsd/lsd_core.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lsd/lsd.hpp"
+#include "yabloc_imgproc/lsd/lsd.hpp"
 
 #include <opencv4/opencv2/imgproc.hpp>
 #include <yabloc_common/cv_decompress.hpp>
@@ -35,7 +35,8 @@ LineSegmentDetector::LineSegmentDetector() : Node("line_detector")
   pub_image_with_line_segments_ = create_publisher<Image>("image_with_line_segments", 10);
   pub_cloud_ = create_publisher<PointCloud2>("line_segments_cloud", 10);
 
-  line_segment_detector_ = cv::createLineSegmentDetector(cv::LSD_REFINE_STD, 0.8, 0.6, 2.0, 22.5, 0, 0.7, 1024);
+  line_segment_detector_ =
+    cv::createLineSegmentDetector(cv::LSD_REFINE_STD, 0.8, 0.6, 2.0, 22.5, 0, 0.7, 1024);
 }
 
 void LineSegmentDetector::on_image(const sensor_msgs::msg::Image & msg)
diff --git a/localization/yabloc/imgproc/lsd/src/lsd_node.cpp b/localization/yabloc/yabloc_imgproc/src/lsd/lsd_node.cpp
similarity index 95%
rename from localization/yabloc/imgproc/lsd/src/lsd_node.cpp
rename to localization/yabloc/yabloc_imgproc/src/lsd/lsd_node.cpp
index 0198d0734c6b5..0fdd7ebece7d8 100644
--- a/localization/yabloc/imgproc/lsd/src/lsd_node.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/lsd/lsd_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lsd/lsd.hpp"
+#include "yabloc_imgproc/lsd/lsd.hpp"
 
 int main(int argc, char * argv[])
 {
diff --git a/localization/yabloc/imgproc/segment_filter/src/segment_filter_core.cpp b/localization/yabloc/yabloc_imgproc/src/segment_filter/segment_filter_core.cpp
similarity index 99%
rename from localization/yabloc/imgproc/segment_filter/src/segment_filter_core.cpp
rename to localization/yabloc/yabloc_imgproc/src/segment_filter/segment_filter_core.cpp
index 3c16cae94a99f..610cdd5de0b06 100644
--- a/localization/yabloc/imgproc/segment_filter/src/segment_filter_core.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/segment_filter/segment_filter_core.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "segment_filter/segment_filter.hpp"
+#include "yabloc_imgproc/segment_filter/segment_filter.hpp"
 
 #include <opencv4/opencv2/core.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
diff --git a/localization/yabloc/imgproc/segment_filter/src/segment_filter_node.cpp b/localization/yabloc/yabloc_imgproc/src/segment_filter/segment_filter_node.cpp
similarity index 92%
rename from localization/yabloc/imgproc/segment_filter/src/segment_filter_node.cpp
rename to localization/yabloc/yabloc_imgproc/src/segment_filter/segment_filter_node.cpp
index 1088dc32983ec..6593c4548ea00 100644
--- a/localization/yabloc/imgproc/segment_filter/src/segment_filter_node.cpp
+++ b/localization/yabloc/yabloc_imgproc/src/segment_filter/segment_filter_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "segment_filter/segment_filter.hpp"
+#include "yabloc_imgproc/segment_filter/segment_filter.hpp"
 
 int main(int argc, char * argv[])
 {
diff --git a/localization/yabloc/imgproc/undistort/src/undistort_node.cpp b/localization/yabloc/yabloc_imgproc/src/undistort/undistort_node.cpp
similarity index 100%
rename from localization/yabloc/imgproc/undistort/src/undistort_node.cpp
rename to localization/yabloc/yabloc_imgproc/src/undistort/undistort_node.cpp
diff --git a/localization/yabloc/yabloc_launch/launch/impl/imgproc.launch.xml b/localization/yabloc/yabloc_launch/launch/impl/imgproc.launch.xml
index 3f8852ab4ecb6..56e34543df475 100644
--- a/localization/yabloc/yabloc_launch/launch/impl/imgproc.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/impl/imgproc.launch.xml
@@ -5,7 +5,7 @@
     <arg name="resized_info" default="/sensing/camera/undistorted/camera_info"/>
 
     <!-- undistort -->
-    <node name="undistort" pkg="undistort" exec="undistort_node" output="screen" args="--ros-args --log-level warn">
+    <node name="undistort" pkg="yabloc_imgproc" exec="undistort_node" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(var undistort_param_path)"/>
 
@@ -18,7 +18,7 @@
     <!-- line segment detector -->
     <arg name="output_image_with_line_segments" default="image_with_line_segments"/>
     <arg name="output_line_segments_cloud" default="line_segments_cloud"/>
-    <node name="lsd" pkg="lsd" exec="lsd_node" output="screen" args="--ros-args --log-level warn">
+    <node name="lsd" pkg="yabloc_imgproc" exec="lsd_node" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <remap from="src_image" to="$(var resized_image)"/>
 
@@ -29,7 +29,7 @@
     <!-- graph based segmentation -->
     <arg name="output_graph_segmented" default="graph_segmented"/>
     <arg name="output_segmented_image" default="segmented_image"/>
-    <node name="graph_segment" pkg="graph_segment" exec="graph_segment_node" output="screen" args="--ros-args --log-level warn">
+    <node name="graph_segment" pkg="yabloc_imgproc" exec="graph_segment_node" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(var graph_segment_param_path)"/>
 
@@ -44,7 +44,7 @@
     <arg name="output_projected_line_segments_cloud" default="/localization/yabloc/imgproc/projected_line_segments_cloud"/>
     <arg name="output_projected_image" default="/localization/yabloc/imgproc/projected_image"/>
     <arg name="output_debug_image_with_lines" default="debug/projected_image"/>
-    <node name="segment_filter" pkg="segment_filter" exec="segment_filter_node" output="screen" args="--ros-args --log-level info">
+    <node name="segment_filter" pkg="yabloc_imgproc" exec="segment_filter_node" output="screen" args="--ros-args --log-level info">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(var segment_filter_param_path)"/>
 
diff --git a/localization/yabloc/yabloc_launch/launch/impl/overlay.launch.xml b/localization/yabloc/yabloc_launch/launch/impl/overlay.launch.xml
index 7ca473efeadaa..6088bc5785e1f 100644
--- a/localization/yabloc/yabloc_launch/launch/impl/overlay.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/impl/overlay.launch.xml
@@ -10,7 +10,7 @@
     <arg name="resized_info" description=""/>
 
     <!-- lanelet2 overlay monitor -->
-    <node name="lanelet2_overlay_monitor" pkg="lanelet2_overlay_monitor" exec="lanelet2_overlay_monitor_node" output="screen" args="--ros-args --log-level warn">
+    <node name="lanelet2_overlay" pkg="yabloc_imgproc" exec="lanelet2_overlay_node" output="screen" args="--ros-args --log-level warn">
         <remap from="src_image" to="$(var resized_image)"/>
         <remap from="src_info" to="$(var resized_info)"/>
         <remap from="particle_pose" to="$(var input_overlayed_pose)"/>
@@ -22,7 +22,7 @@
     </node>
 
     <!-- line segments overlay monitor -->
-    <node name="line_segments_overlay_monitor" pkg="line_segments_overlay_monitor" exec="line_segments_overlay_monitor_node" output="screen">
+    <node name="line_segments_overlay" pkg="yabloc_imgproc" exec="line_segments_overlay_node" output="screen">
         <remap from="input_image" to="$(var resized_image)"/>
         <remap from="input_line_segments" to="$(var input_debug_line_segments)"/>
         <remap from="output_image_with_colored_line_segments" to="$(var output_image_with_colored_line_segments)"/>
diff --git a/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml b/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
index f5f668e6f44a1..9e1b9bd680c3d 100644
--- a/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
@@ -23,9 +23,9 @@
     <arg name="gnss_particle_corrector_param_path" default="$(find-pkg-share gnss_particle_corrector)/config/gnss_particle_corrector.param.yaml"/>
     <arg name="predictor_param_path" default="$(find-pkg-share modularized_particle_filter)/config/predictor.param.yaml"/>
     <!-- image processing -->
-    <arg name="graph_segment_param_path" default="$(find-pkg-share graph_segment)/config/graph_segment.param.yaml"/>
-    <arg name="segment_filter_param_path" default="$(find-pkg-share segment_filter)/config/segment_filter.param.yaml"/>
-    <arg name="undistort_param_path" default="$(find-pkg-share undistort)/config/undistort.param.yaml"/>
+    <arg name="graph_segment_param_path" default="$(find-pkg-share yabloc_imgproc)/config/graph_segment.param.yaml"/>
+    <arg name="segment_filter_param_path" default="$(find-pkg-share yabloc_imgproc)/config/segment_filter.param.yaml"/>
+    <arg name="undistort_param_path" default="$(find-pkg-share yabloc_imgproc)/config/undistort.param.yaml"/>
     <!-- map -->
     <arg name="ground_server_param_path" default="$(find-pkg-share ground_server)/config/ground_server.param.yaml"/>
     <arg name="ll2_decomposer_param_path" default="$(find-pkg-share ll2_decomposer)/config/ll2_decomposer.param.yaml"/>
diff --git a/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml b/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml
index ab667e7f8e635..6e1d77720dbb0 100644
--- a/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml
@@ -31,9 +31,9 @@
     <arg name="gnss_particle_corrector_param_path" default="$(find-pkg-share gnss_particle_corrector)/config/gnss_particle_corrector.param.yaml"/>
     <arg name="predictor_param_path" default="$(find-pkg-share modularized_particle_filter)/config/predictor.param.yaml"/>
     <!-- image processing -->
-    <arg name="graph_segment_param_path" default="$(find-pkg-share graph_segment)/config/graph_segment.param.yaml"/>
-    <arg name="segment_filter_param_path" default="$(find-pkg-share segment_filter)/config/segment_filter.param.yaml"/>
-    <arg name="undistort_param_path" default="$(find-pkg-share undistort)/config/undistort.param.yaml"/>
+    <arg name="graph_segment_param_path" default="$(find-pkg-share yabloc_imgproc)/config/graph_segment.param.yaml"/>
+    <arg name="segment_filter_param_path" default="$(find-pkg-share yabloc_imgproc)/config/segment_filter.param.yaml"/>
+    <arg name="undistort_param_path" default="$(find-pkg-share yabloc_imgproc)/config/undistort.param.yaml"/>
     <!-- map -->
     <arg name="ground_server_param_path" default="$(find-pkg-share ground_server)/config/ground_server.param.yaml"/>
     <arg name="ll2_decomposer_param_path" default="$(find-pkg-share ll2_decomposer)/config/ll2_decomposer.param.yaml"/>