diff --git a/common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp b/common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
index 9feb7433422c2..5631714b946cd 100644
--- a/common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
+++ b/common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
@@ -52,6 +52,28 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
       label_marker_ptr->id = id++;
       add_marker(label_marker_ptr);
     }
+
+    // Get marker for velocity text
+    geometry_msgs::msg::Point vel_vis_position;
+    vel_vis_position.x = object.kinematics.pose_with_covariance.pose.position.x;
+    vel_vis_position.y = object.kinematics.pose_with_covariance.pose.position.y - 1.0;
+    vel_vis_position.z = object.kinematics.pose_with_covariance.pose.position.z - 1.0;
+    auto velocity_text_marker = get_velocity_text_marker_ptr(
+      object.kinematics.twist_with_covariance.twist, vel_vis_position, object.classification);
+    if (velocity_text_marker) {
+      auto velocity_text_marker_ptr = velocity_text_marker.value();
+      velocity_text_marker_ptr->header = msg->header;
+      add_marker(velocity_text_marker_ptr);
+    }
+
+    // Get marker for twist
+    auto twist_marker = get_twist_marker_ptr(
+      object.kinematics.pose_with_covariance, object.kinematics.twist_with_covariance);
+    if (twist_marker) {
+      auto twist_marker_ptr = twist_marker.value();
+      twist_marker_ptr->header = msg->header;
+      add_marker(twist_marker_ptr);
+    }
   }
 }