diff --git a/localization/yabloc/yabloc_image_processing/README.md b/localization/yabloc/yabloc_image_processing/README.md
index bc31c579d39a1..eb9ae658c39a7 100644
--- a/localization/yabloc/yabloc_image_processing/README.md
+++ b/localization/yabloc/yabloc_image_processing/README.md
@@ -53,15 +53,15 @@ This node extract road surface region by [graph-based-segmentation](https://docs
 
 ### Parameters
 
-| Name                             | Type   | Description                                                        |
-| -------------------------------- | ------ | ------------------------------------------------------------------ |
-| `target_height_ratio`            | double | height on the image to retrieve the candidate road surface         |
-| `target_candidate_box_width`     | int    | size of the square area to search for candidate road surfaces      |
-| `pickup_addtional_graph_segment` | bool   | if this is true, additional regions of similar color are retrieved |
-| `similarity_score_threshold`     | double | threshold for picking up additional areas                          |
-| `sigma`                          | double | parameters for cv::ximgproc::segmentation                          |
-| `k`                              | double | parameters for cv::ximgproc::segmentation                          |
-| `min_size`                       | double | parameters for cv::ximgproc::segmentation                          |
+| Name                              | Type   | Description                                                        |
+| --------------------------------- | ------ | ------------------------------------------------------------------ |
+| `target_height_ratio`             | double | height on the image to retrieve the candidate road surface         |
+| `target_candidate_box_width`      | int    | size of the square area to search for candidate road surfaces      |
+| `pickup_additional_graph_segment` | bool   | if this is true, additional regions of similar color are retrieved |
+| `similarity_score_threshold`      | double | threshold for picking up additional areas                          |
+| `sigma`                           | double | parameters for cv::ximgproc::segmentation                          |
+| `k`                               | double | parameters for cv::ximgproc::segmentation                          |
+| `min_size`                        | double | parameters for cv::ximgproc::segmentation                          |
 
 ## segment_filter
 
@@ -91,7 +91,7 @@ This is a node that integrates the results of graph_segment and lsd to extract r
 
 | Name                                   | Type   | Description                                                         |
 | -------------------------------------- | ------ | ------------------------------------------------------------------- |
-| `min_segment_length`                   | double | min lenght threshold (if it is negative, it is unlimited)           |
+| `min_segment_length`                   | double | min length threshold (if it is negative, it is unlimited)           |
 | `max_segment_distance`                 | double | max distance threshold (if it is negative, it is unlimited)         |
 | `max_lateral_distance`                 | double | max lateral distance threshold (if it is negative, it is unlimited) |
 | `publish_image_with_segment_for_debug` | bool   | toggle whether to publish the filtered line segment for debug       |
@@ -178,7 +178,7 @@ This node overlays lanelet2 on the camera image based on the estimated self-posi
 
 | Name                            | Type                              | Description                                            |
 | ------------------------------- | --------------------------------- | ------------------------------------------------------ |
-| `output/lanelet2_overlay_image` | `sensor_msgs::msg::Image`         | lanelet2 overlayed image                               |
+| `output/lanelet2_overlay_image` | `sensor_msgs::msg::Image`         | lanelet2 overlaid image                                |
 | `output/projected_marker`       | `visualization_msgs::msg::Marker` | 3d projected line segments including non-road markings |
 
 ## line_segments_overlay
@@ -193,7 +193,7 @@ This node visualize classified line segments on the camera image
 
 | Name                        | Type                            | Description              |
 | --------------------------- | ------------------------------- | ------------------------ |
-| `input/line_segments_cloud` | `sensor_msgs::msg::PointCloud2` | classied line segments   |
+| `input/line_segments_cloud` | `sensor_msgs::msg::PointCloud2` | classified line segments |
 | `input/image_raw`           | `sensor_msgs::msg::Image`       | undistorted camera image |
 
 #### Output
diff --git a/localization/yabloc/yabloc_image_processing/launch/image_processing.launch.xml b/localization/yabloc/yabloc_image_processing/launch/image_processing.launch.xml
index 0d3850bf74590..b7caea8236a7f 100644
--- a/localization/yabloc/yabloc_image_processing/launch/image_processing.launch.xml
+++ b/localization/yabloc/yabloc_image_processing/launch/image_processing.launch.xml
@@ -33,7 +33,7 @@
     <remap from="~/debug/segmented_image" to="$(var output_segmented_image)"/>
   </node>
 
-  <!-- segment fitler -->
+  <!-- segment filter -->
   <arg name="input_graph_segmented" default="graph_segmented"/>
   <arg name="input_line_segments_cloud" default="line_segments_cloud"/>
   <arg name="output_projected_line_segments_cloud" default="/localization/yabloc/image_processing/projected_line_segments_cloud"/>
diff --git a/localization/yabloc/yabloc_image_processing/launch/overlay.launch.xml b/localization/yabloc/yabloc_image_processing/launch/overlay.launch.xml
index 70c3e8f553446..715ed31405a87 100644
--- a/localization/yabloc/yabloc_image_processing/launch/overlay.launch.xml
+++ b/localization/yabloc/yabloc_image_processing/launch/overlay.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-  <arg name="input_overlayed_pose" description=""/>
+  <arg name="input_overlaid_pose" description=""/>
   <let name="input_ground" value="/localization/yabloc/map/ground"/>
   <let name="input_projected_line_segments_cloud" value="/localization/yabloc/image_processing/projected_line_segments_cloud"/>
   <let name="input_ll2_sign_board" value="/localization/yabloc/map/ll2_sign_board"/>
@@ -13,7 +13,7 @@
   <node name="lanelet2_overlay" pkg="yabloc_image_processing" exec="lanelet2_overlay_node" output="screen" args="--ros-args --log-level warn">
     <remap from="~/input/image_raw" to="$(var resized_image)"/>
     <remap from="~/input/camera_info" to="$(var resized_info)"/>
-    <remap from="~/input/pose" to="$(var input_overlayed_pose)"/>
+    <remap from="~/input/pose" to="$(var input_overlaid_pose)"/>
     <remap from="~/input/ground" to="$(var input_ground)"/>
     <remap from="~/input/projected_line_segments_cloud" to="$(var input_projected_line_segments_cloud)"/>
     <remap from="~/input/ll2_sign_board" to="$(var input_ll2_sign_board)"/>
diff --git a/localization/yabloc/yabloc_image_processing/launch/yabloc_image_processing.launch.xml b/localization/yabloc/yabloc_image_processing/launch/yabloc_image_processing.launch.xml
index 8fab2731fe24e..847b4ac03295c 100644
--- a/localization/yabloc/yabloc_image_processing/launch/yabloc_image_processing.launch.xml
+++ b/localization/yabloc/yabloc_image_processing/launch/yabloc_image_processing.launch.xml
@@ -15,7 +15,7 @@
 
   <group if="$(var validation)">
     <include file="$(find-pkg-share yabloc_image_processing)/launch/overlay.launch.xml">
-      <arg name="input_overlayed_pose" value="$(var input_pose)"/>
+      <arg name="input_overlaid_pose" value="$(var input_pose)"/>
       <arg name="resized_image" value="$(var resized_image)"/>
       <arg name="resized_info" value="$(var resized_info)"/>
     </include>
diff --git a/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp b/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp
index 9d27636f16e9d..367ff51567147 100644
--- a/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp
+++ b/localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp
@@ -116,20 +116,20 @@ void Lanelet2Overlay::draw_overlay(
 {
   if (ll2_cloud_.empty()) return;
 
-  cv::Mat overlayed_image = cv::Mat::zeros(image.size(), CV_8UC3);
+  cv::Mat overlaid_image = cv::Mat::zeros(image.size(), CV_8UC3);
 
   using common::extract_near_line_segments;
   if (pose) {
     draw_overlay_line_segments(
-      overlayed_image, *pose,
+      overlaid_image, *pose,
       extract_near_line_segments(ll2_cloud_, common::pose_to_se3(*pose), 60));
     draw_overlay_line_segments(
-      overlayed_image, *pose,
+      overlaid_image, *pose,
       extract_near_line_segments(sign_board_, common::pose_to_se3(*pose), 60));
   }
 
   cv::Mat show_image;
-  cv::addWeighted(image, 0.8, overlayed_image, 0.8, 1, show_image);
+  cv::addWeighted(image, 0.8, overlaid_image, 0.8, 1, show_image);
   common::publish_image(*pub_image_, show_image, stamp);
 }
 
diff --git a/localization/yabloc/yabloc_particle_filter/launch/yabloc_particle_filter.launch.xml b/localization/yabloc/yabloc_particle_filter/launch/yabloc_particle_filter.launch.xml
index fcbf64441ffd4..47a478b2adbdf 100644
--- a/localization/yabloc/yabloc_particle_filter/launch/yabloc_particle_filter.launch.xml
+++ b/localization/yabloc/yabloc_particle_filter/launch/yabloc_particle_filter.launch.xml
@@ -2,7 +2,7 @@
   <!-- predict update -->
   <arg name="input_initialpose" default="/initialpose3d"/>
   <arg name="twist_cov_for_prediction" default="/localization/twist_estimator/twist_with_covariance"/>
-  <let name="inout_weighted_particles" value="weighted_particles"/>
+  <let name="output_weighted_particles" value="weighted_particles"/>
   <let name="output_particles_marker_array" value="predicted_particles_marker"/>
   <node pkg="yabloc_particle_filter" exec="predictor_node" name="particle_predictor" output="screen" args="--ros-args --log-level info">
     <param from="$(var predictor_param_path)"/>
@@ -31,7 +31,7 @@
     <remap from="~/input/ll2_bounding_box" to="$(var input_ll2_bounding_box)"/>
     <remap from="~/input/pose" to="pose"/>
 
-    <remap from="~/output/weighted_particles" to="$(var inout_weighted_particles)"/>
+    <remap from="~/output/weighted_particles" to="$(var output_weighted_particles)"/>
     <remap from="~/debug/cost_map_range" to="cost_map_range"/>
     <remap from="~/debug/cost_map_image" to="cost_map_image"/>
     <remap from="~/debug/match_image" to="match_image"/>
@@ -50,7 +50,7 @@
     <remap from="~/input/height" to="/localization/yabloc/map/height"/>
     <remap from="~/input/pose_with_covariance" to="/sensing/gnss/pose_with_covariance"/>
 
-    <remap from="~/output/weighted_particles" to="$(var inout_weighted_particles)"/>
+    <remap from="~/output/weighted_particles" to="$(var output_weighted_particles)"/>
     <remap from="~/debug/gnss_range_marker" to="gnss_range_marker"/>
     <remap from="~/debug/particles_marker_array" to="gnss_particles_marker"/>
   </node>
diff --git a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
index efe84cec7fb6c..90cd62883e339 100644
--- a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
@@ -20,7 +20,7 @@
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-namespace yabloc::modularized_particle_fitler
+namespace yabloc::modularized_particle_filter
 {
 class ParticleVisualize : public rclcpp::Node
 {
@@ -103,13 +103,13 @@ class ParticleVisualize : public rclcpp::Node
     pub_marker_array->publish(marker_array);
   }
 };
-}  // namespace yabloc::modularized_particle_fitler
+}  // namespace yabloc::modularized_particle_filter
 
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
 
-  rclcpp::spin(std::make_shared<yabloc::modularized_particle_fitler::ParticleVisualize>());
+  rclcpp::spin(std::make_shared<yabloc::modularized_particle_filter::ParticleVisualize>());
   rclcpp::shutdown();
   return 0;
 }