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 15629b3643570..feb3703ecb57c 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
@@ -261,10 +261,10 @@
 
   <!-- Filter -->
   <group>
-    <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml" if="$(var use_object_filter)">
+    <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="$(var output/objects)"/>
-      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
+      <arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
     </include>
   </group>
 </launch>
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index 1b89693b0f9f7..41bc5257a0129 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -14,6 +14,7 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var distance_threshold_list_path)"/>
     <param name="priority_mode" value="$(var priority_mode)"/>
+    <param name="remove_overlapped_unknown_objects" value="false"/>
     <param name="generalized_iou_threshold" value="-0.6"/>
     <param name="precision_threshold_to_judge_overlapped" value="0.4"/>
   </node>