diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
index b741e1d3d68db..5c98f73bcd7b6 100644
--- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
+++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -1,19 +1,19 @@
 /**:
   ros__parameters:
     can_assign_matrix:
-      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE PEDESTRIAN
-      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
-       1,       1,   1,     1,    1,       0,         0,      0,         #CAR
-       1,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
-       1,       1,   1,     1,    1,       0,         0,      0,         #BUS
-       1,       1,   1,     1,    1,       0,         0,      0,         #TRAILER
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement
+      [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN <-Tracker
+       0,       1,   1,     1,    1,       0,         0,      0,         #CAR
+       0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
+       0,       1,   1,     1,    1,       0,         0,      0,         #BUS
+       0,       1,   1,     1,    1,       0,         0,      0,         #TRAILER
        0,       0,   0,     0,    0,       1,         1,      1,         #MOTORBIKE
        0,       0,   0,     0,    0,       1,         1,      1,         #BICYCLE
        0,       0,   0,     0,    0,       1,         1,      1]         #PEDESTRIAN
 
     max_dist_matrix:
       #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [1.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
+      [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
        4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
        4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
        4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
@@ -28,7 +28,7 @@
           19.75,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRUCK
           32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #BUS
           32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRAILER
-           3.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
            2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
            2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
     min_area_matrix:
@@ -52,13 +52,13 @@
        3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #BICYCLE
        3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
 
-    min_iou_matrix:
+    min_iou_matrix: # If value is negative, it will be ignored.
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
-       0.1,     0.3,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
-       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
-       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
-       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
-       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
-       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
-       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,  0.0001]       #PEDESTRIAN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
+          0.1,  0.3,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,  0.0001]       #PEDESTRIAN
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index af20464cdf5d6..9c52441fb9a16 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
   <arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
@@ -38,13 +38,14 @@
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share compare_map_segmentation)/launch/voxel_based_compare_map_filter.launch.xml" if="$(var use_pointcloud_map)">
-      <arg name="input" value="$(var input/obstacle_segmentation/pointcloud)" />
-      <arg name="input_map" value="/map/pointcloud_map" />
-      <arg name="output" value="pointcloud_map_filtered/pointcloud" />
-      <arg name="distance_threshold" value="0.5" />
+      <arg name="input" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="input_map" value="/map/pointcloud_map"/>
+      <arg name="output" value="pointcloud_map_filtered/pointcloud"/>
+      <arg name="distance_threshold" value="0.5"/>
     </include>
   </group>
 
+  <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
     <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
@@ -54,6 +55,16 @@
       <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
     </include>
+    <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <arg name="input/objects" value="clusters"/>
+      <arg name="output/objects" value="objects_with_feature"/>
+    </include>
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+      <arg name="input" value="objects_with_feature"/>
+      <arg name="output" value="objects"/>
+    </include>
+    <!-- Fusion camera-lidar to classify -->
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
       <arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
@@ -84,13 +95,13 @@
       <arg name="output/clusters" value="camera_lidar_fusion/clusters"/>
     </include>
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-      <arg name="input/objects" value="camera_lidar_fusion/clusters" />
-      <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
+      <arg name="input/objects" value="camera_lidar_fusion/clusters"/>
+      <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-      <arg name="input" value="camera_lidar_fusion/objects_with_feature" />
-      <arg name="output" value="camera_lidar_fusion/objects" />
+      <arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
+      <arg name="output" value="camera_lidar_fusion/objects"/>
     </include>
     <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
       <arg name="input/object" value="camera_lidar_fusion/objects"/>
@@ -103,8 +114,7 @@
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-    </include>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
   </group>
 
   <!-- CenterPoint -->
@@ -112,7 +122,7 @@
     <push-ros-namespace namespace="centerpoint"/>
     <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="output/objects" value="objects"/>
     </include>
   </group>
 
@@ -129,8 +139,8 @@
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature" />
-        <arg name="output" value="objects" />
+        <arg name="input" value="objects_with_feature"/>
+        <arg name="output" value="objects"/>
       </include>
     </group>
   </group>
@@ -147,20 +157,19 @@
   </group>
 
   <!-- Merger -->
-  <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
-      <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
-      <arg name="output/object" value="camera_lidar_fusion/objects"/>
-    </include>
-  </group>
-
-  <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="detection_by_tracker/objects"/>
-      <arg name="input/object1" value="camera_lidar_fusion/objects"/>
-      <arg name="output/object" value="objects"/>
-    </include>
-  </group>
-
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
+    <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
+    <arg name="output/object" value="camera_lidar_fusion/objects"/>
+  </include>
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="detection_by_tracker/objects"/>
+    <arg name="input/object1" value="camera_lidar_fusion/objects"/>
+    <arg name="output/object" value="temporary_merged_objects"/>
+  </include>
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="temporary_merged_objects"/>
+    <arg name="input/object1" value="clustering/objects"/>
+    <arg name="output/object" value="objects"/>
+  </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index e32dcac20b1c2..5287fb4ab606d 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -8,10 +8,10 @@
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share compare_map_segmentation)/launch/voxel_based_compare_map_filter.launch.xml" if="$(var use_pointcloud_map)">
-      <arg name="input" value="$(var input/obstacle_segmentation/pointcloud)" />
-      <arg name="input_map" value="/map/pointcloud_map" />
-      <arg name="output" value="pointcloud_map_filtered/pointcloud" />
-      <arg name="distance_threshold" value="0.5" />
+      <arg name="input" value="$(var input/obstacle_segmentation/pointcloud)"/>
+      <arg name="input_map" value="/map/pointcloud_map"/>
+      <arg name="output" value="pointcloud_map_filtered/pointcloud"/>
+      <arg name="distance_threshold" value="0.5"/>
     </include>
   </group>
 
@@ -25,13 +25,21 @@
       <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
     </include>
+    <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <arg name="input/objects" value="clusters"/>
+      <arg name="output/objects" value="objects_with_feature"/>
+    </include>
+    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+    <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
+      <arg name="input" value="objects_with_feature"/>
+      <arg name="output" value="objects"/>
+    </include>
   </group>
 
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
-    </include>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml"/>
   </group>
 
   <!-- CenterPoint -->
@@ -57,8 +65,8 @@
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
-        <arg name="input" value="objects_with_feature" />
-        <arg name="output" value="objects" />
+        <arg name="input" value="objects_with_feature"/>
+        <arg name="output" value="objects"/>
       </include>
     </group>
   </group>
@@ -78,9 +86,13 @@
   <group>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
+      <arg name="input/object1" value="clustering/objects"/>
+      <arg name="output/object" value="temporary_merged_objects"/>
+    </include>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects"/>
     </include>
   </group>
-
 </launch>