diff --git a/perception/object_recognition/tracking/multi_object_tracker/CMakeLists.txt b/perception/object_recognition/tracking/multi_object_tracker/CMakeLists.txt
index 97b9d4d0c8945..d2bb3f2cd655e 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/CMakeLists.txt
+++ b/perception/object_recognition/tracking/multi_object_tracker/CMakeLists.txt
@@ -45,8 +45,8 @@ set(MULTI_OBJECT_TRACKER_HEADERS
   include/multi_object_tracker/multi_object_tracker_core.hpp
 )
 
-ament_auto_add_library(multi_object_tracker_node SHARED 
-  ${MULTI_OBJECT_TRACKER_SRC} 
+ament_auto_add_library(multi_object_tracker_node SHARED
+  ${MULTI_OBJECT_TRACKER_SRC}
   ${MULTI_OBJECT_TRACKER_HEADERS}
 )
 
@@ -64,4 +64,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
-) 
+  config
+)
diff --git a/perception/object_recognition/tracking/multi_object_tracker/config/data_assosiaction_matrix.yaml b/perception/object_recognition/tracking/multi_object_tracker/config/data_assosiaction_matrix.yaml
new file mode 100644
index 0000000000000..d738ae36a737c
--- /dev/null
+++ b/perception/object_recognition/tracking/multi_object_tracker/config/data_assosiaction_matrix.yaml
@@ -0,0 +1,42 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [0,       0,   0,     0,   0,       0,         0,          0,    #UNKNOWN
+       1,       1,   1,     1,   0,       0,         0,          0,    #CAR
+       1,       1,   1,     1,   0,       0,         0,          0,    #TRUCK
+       1,       1,   1,     1,   0,       0,         0,          0,    #BUS
+       0,       0,   0,     0,   1,       1,         0,          0,    #BICYCLE
+       0,       0,   0,     0,   1,       1,         0,          0,    #MOTORBIKE
+       0,       0,   0,     0,   0,       0,         1,          0,    #PEDESTRIAN
+       0,       0,   0,     0,   0,       0,         0,          1]    #ANIMAL
+    max_dist_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [1.0,     1.0, 1.0,   1.0, 1.0,     1.0,       1.0,        1.0,  #UNKNOWN
+       4.0,     4.5, 4.5,   4.5, 1.0,     1.0,       1.0,        1.0,  #CAR
+       4.0,     4.0, 4.0,   4.0, 1.0,     1.0,       1.0,        1.0,  #TRUCK
+       4.0,     4.0, 4.0,   4.0, 1.0,     1.0,       1.0,        1.0,  #BUS
+       3.0,     1.0, 1.0,   1.0, 3.0,     3.0,       1.0,        1.0,  #BICYCLE
+       3.0,     1.0, 1.0,   1.0, 3.0,     2.0,       1.0,        1.0,  #MOTORBIKE
+       2.0,     1.0, 1.0,   1.0, 1.0,     1.0,       2.0,        1.0,  #PEDESTRIAN
+       1.0,     1.0, 1.0,   1.0, 1.0,     1.0,       1.0,        1.0]  #ANIMAL
+    max_area_matrix:
+      #UNKNOWN,  CAR,      TRUCK,    BUS,      BICYCLE,  MOTORBIKE, PEDESTRIAN, ANIMAL
+      [10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,   10000.00,  #UNKNOWN
+          12.10,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #CAR
+          19.75,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #TRUCK
+          32.40,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #BUS
+           2.50, 10000.00, 10000.00, 10000.00,     2.50,     3.00,  10000.00,   10000.00,  #BICYCLE
+           3.00, 10000.00, 10000.00, 10000.00,     2.50,     3.00,  10000.00,   10000.00,  #MOTORBIKE
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.00,   10000.00,  #PEDESTRIAN
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,   10000.00]  #ANIMAL
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [ 0.000,  0.000, 0.000,  0.000, 0.000,   0.000,     0.000,      0.000,  #UNKNOWN
+        3.600,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #CAR
+        6.000,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #TRUCK
+       10.000,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #BUS
+        0.001,  0.000, 0.000,  0.000, 0.001,   0.001,     0.000,      0.000,  #BICYCLE
+        0.001,  0.000, 0.000,  0.000, 0.001,   0.001,     0.000,      0.000,  #MOTORBIKE
+        0.001,  0.000, 0.000,  0.000, 0.000,   0.000,     0.001,      0.000,  #PEDESTRIAN
+        0.500,  0.000, 0.000,  0.000, 0.000,   0.000,     0.000,      0.000]  #ANIMAL
diff --git a/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp b/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp
index f725ecdfb9ce3..39401726876d2 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp
@@ -35,14 +35,16 @@ class DataAssociation
 private:
   double getDistance(
     const geometry_msgs::msg::Point & measurement, const geometry_msgs::msg::Point & tracker);
-  Eigen::MatrixXi can_assgin_matrix_;
+  Eigen::MatrixXi can_assign_matrix_;
   Eigen::MatrixXd max_dist_matrix_;
   Eigen::MatrixXd max_area_matrix_;
   Eigen::MatrixXd min_area_matrix_;
   const double score_threshold_;
 
 public:
-  DataAssociation();
+  DataAssociation(
+    std::vector<int> can_assign_vector, std::vector<double> max_dist_vector,
+    std::vector<double> max_area_vector, std::vector<double> min_area_vector);
   void assign(
     const Eigen::MatrixXd & src, std::unordered_map<int, int> & direct_assignment,
     std::unordered_map<int, int> & reverse_assignment);
diff --git a/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
index 3aa69c8a0d3ae..d2adb39c25eb7 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
@@ -58,7 +58,8 @@ class MultiObjectTracker : public rclcpp::Node
 
   std::string world_frame_id_;  // tracking frame
   std::list<std::shared_ptr<Tracker>> list_tracker_;
-  DataAssociation data_association_;
+  std::unique_ptr<DataAssociation> data_association_;
+  bool enable_delay_compensation_;
 };
 
 #endif
diff --git a/perception/object_recognition/tracking/multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/object_recognition/tracking/multi_object_tracker/launch/multi_object_tracker.launch.xml
index bb8644c16eadd..495e06dbe3e37 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/launch/multi_object_tracker.launch.xml
+++ b/perception/object_recognition/tracking/multi_object_tracker/launch/multi_object_tracker.launch.xml
@@ -5,11 +5,13 @@
   <arg name="output" default="objects"/>
   <arg name="world_frame_id" default="map"/>
   <arg name="publish_rate" default="10.0"/>
+  <arg name="data_association_matrix_path" default="$(find-pkg-share multi_object_tracker)/config/data_assosiaction_matrix.yaml" />
 
   <node pkg="multi_object_tracker" exec="multi_object_tracker" name="multi_object_tracker" output="screen">
     <remap from="input" to="$(var input)"/>
     <remap from="output" to="$(var output)"/>
     <param name="world_frame_id" value="$(var world_frame_id)" />
     <param name="publish_rate" value="$(var publish_rate)" />
+    <param from="$(var data_association_matrix_path)" />
   </node>
 </launch>
diff --git a/perception/object_recognition/tracking/multi_object_tracker/src/data_association/data_association.cpp b/perception/object_recognition/tracking/multi_object_tracker/src/data_association/data_association.cpp
index 3ff2be2941b26..88e2f0753230f 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/src/data_association/data_association.cpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/src/data_association/data_association.cpp
@@ -21,248 +21,35 @@
 #include "successive_shortest_path/successive_shortest_path.hpp"
 #include "multi_object_tracker/utils/utils.hpp"
 
-DataAssociation::DataAssociation()
+DataAssociation::DataAssociation(
+  std::vector<int> can_assign_vector, std::vector<double> max_dist_vector,
+  std::vector<double> max_area_vector, std::vector<double> min_area_vector)
 : score_threshold_(0.1)
 {
-  can_assgin_matrix_ = Eigen::MatrixXi::Identity(20, 20);
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::UNKNOWN,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::BUS) = 1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::CAR) =
-    1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::BUS) =
-    1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::CAR) = 1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 1;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  can_assgin_matrix_(
-    autoware_perception_msgs::msg::Semantic::ANIMAL,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0;
-  max_dist_matrix_ = Eigen::MatrixXd::Constant(20, 20, 1.0);
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::CAR) =
-    4.5;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    4.5;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::BUS) =
-    4.5;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::CAR) =
-    4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::TRUCK) = 4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::BUS) =
-    4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::CAR) =
-    4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::BUS) =
-    4.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 3.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 3.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 3.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 3.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 3.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 2.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN) = 2.0;
-  max_dist_matrix_(
-    autoware_perception_msgs::msg::Semantic::ANIMAL,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 1.0;
-  max_area_matrix_ = Eigen::MatrixXd::Constant(20, 20, /* large number */ 10000.0);
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.2 * 5.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::CAR) =
-    2.2 * 5.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    2.5 * 7.9;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::BUS) =
-    2.7 * 12.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.5 * 7.9;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::CAR) =
-    2.2 * 5.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::TRUCK) = 2.5 * 7.9;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::BUS) =
-    2.7 * 12.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.7 * 12.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::CAR) =
-    2.2 * 5.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    2.5 * 7.9;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::BUS) =
-    2.7 * 12.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 2.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 3.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 3.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 2.5;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 3.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN) = 2.0;
-  max_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::ANIMAL,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.0;
-  min_area_matrix_ = Eigen::MatrixXd::Constant(20, 20, /* small number */ 0.0);
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 1.2 * 3.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::CAR) =
-    1.2 * 3.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    1.5 * 4.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::CAR, autoware_perception_msgs::msg::Semantic::BUS) =
-    2.0 * 5.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 1.5 * 4.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::CAR) =
-    1.2 * 3.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK,
-    autoware_perception_msgs::msg::Semantic::TRUCK) = 1.5 * 4.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::TRUCK, autoware_perception_msgs::msg::Semantic::BUS) =
-    2.0 * 5.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 2.0 * 5.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::CAR) =
-    1.2 * 3.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::TRUCK) =
-    1.5 * 4.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BUS, autoware_perception_msgs::msg::Semantic::BUS) =
-    2.0 * 5.0;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::BICYCLE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::BICYCLE) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE,
-    autoware_perception_msgs::msg::Semantic::MOTORBIKE) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN,
-    autoware_perception_msgs::msg::Semantic::PEDESTRIAN) = 0.001;
-  min_area_matrix_(
-    autoware_perception_msgs::msg::Semantic::ANIMAL,
-    autoware_perception_msgs::msg::Semantic::UNKNOWN) = 0.5;
+  {
+    const int assign_label_num = static_cast<int>(std::sqrt(can_assign_vector.size()));
+    Eigen::Map<Eigen::MatrixXi> can_assign_matrix_tmp(
+      can_assign_vector.data(), assign_label_num, assign_label_num);
+    can_assign_matrix_ = can_assign_matrix_tmp.transpose();
+  }
+  {
+    const int max_dist_label_num = static_cast<int>(std::sqrt(max_dist_vector.size()));
+    Eigen::Map<Eigen::MatrixXd> max_dist_matrix_tmp(
+      max_dist_vector.data(), max_dist_label_num, max_dist_label_num);
+    max_dist_matrix_ = max_dist_matrix_tmp.transpose();
+  }
+  {
+    const int max_area_label_num = static_cast<int>(std::sqrt(max_area_vector.size()));
+    Eigen::Map<Eigen::MatrixXd> max_area_matrix_tmp(
+      max_area_vector.data(), max_area_label_num, max_area_label_num);
+    max_area_matrix_ = max_area_matrix_tmp.transpose();
+  }
+  {
+    const int min_area_label_num = static_cast<int>(std::sqrt(min_area_vector.size()));
+    Eigen::Map<Eigen::MatrixXd> min_area_matrix_tmp(
+      min_area_vector.data(), min_area_label_num, min_area_label_num);
+    min_area_matrix_ = min_area_matrix_tmp.transpose();
+  }
 }
 
 void DataAssociation::assign(
@@ -311,7 +98,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
       ++measurement_idx)
     {
       double score = 0.0;
-      if (can_assgin_matrix_(
+      if (can_assign_matrix_(
           (*tracker_itr)->getType(),
           measurements.feature_objects.at(measurement_idx).object.semantic.type))
       {
diff --git a/perception/object_recognition/tracking/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp b/perception/object_recognition/tracking/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp
index 6511d8bbedc31..2c031941c3f1b 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp
@@ -28,7 +28,7 @@ namespace assignment_problem
 {
 struct ResidualEdge
 {
-  // Desternation node
+  // Destination node
   const int dst;
   int capacity;
   const double cost;
diff --git a/perception/object_recognition/tracking/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/object_recognition/tracking/multi_object_tracker/src/multi_object_tracker_core.cpp
index 8b345e9883c2d..5e7645db31157 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -46,6 +46,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   // Parameters
   double publish_rate = declare_parameter<double>("publish_rate", 30.0);
   world_frame_id_ = declare_parameter<std::string>("world_frame_id", "world");
+  enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation", false);
 
   auto cti = std::make_shared<tf2_ros::CreateTimerROS>(
     this->get_node_base_interface(), this->get_node_timers_interface());
@@ -60,6 +61,22 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
     this->get_clock(), period, std::move(timer_callback),
     this->get_node_base_interface()->get_context());
   this->get_node_timers_interface()->add_timer(publish_timer_, nullptr);
+
+  this->declare_parameter("can_assign_matrix");
+  this->declare_parameter("max_dist_matrix");
+  this->declare_parameter("max_area_matrix");
+  this->declare_parameter("min_area_matrix");
+  auto can_assign_matrix_tmp =
+    this->get_parameter("can_assign_matrix").as_integer_array();
+  std::vector<int> can_assign_matrix(can_assign_matrix_tmp.begin(), can_assign_matrix_tmp.end());
+  std::vector<double> max_dist_matrix =
+    this->get_parameter("max_dist_matrix").as_double_array();
+  std::vector<double> max_area_matrix =
+    this->get_parameter("max_area_matrix").as_double_array();
+  std::vector<double> min_area_matrix =
+    this->get_parameter("max_area_matrix").as_double_array();
+  data_association_ = std::make_unique<DataAssociation>(
+    can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix);
 }
 
 void MultiObjectTracker::measurementCallback(
@@ -106,14 +123,20 @@ void MultiObjectTracker::measurementCallback(
   }
 
   /* life cycle check */
-  // TODO
+  for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) {
+    if (1.0 < (*itr)->getElapsedTimeFromLastUpdate(rclcpp::Node::now())) {
+      auto erase_itr = itr;
+      --itr;
+      list_tracker_.erase(erase_itr);
+    }
+  }
 
-  /* global nearest neighboor */
+  /* global nearest neighbor */
   std::unordered_map<int, int> direct_assignment;
   std::unordered_map<int, int> reverse_assignment;
-  Eigen::MatrixXd score_matrix = data_association_.calcScoreMatrix(
+  Eigen::MatrixXd score_matrix = data_association_->calcScoreMatrix(
     input_transformed_objects, list_tracker_);  // row : tracker, col : measurement
-  data_association_.assign(score_matrix, direct_assignment, reverse_assignment);
+  data_association_->assign(score_matrix, direct_assignment, reverse_assignment);
 
   /* tracker measurement update */
   int tracker_idx = 0;
@@ -165,8 +188,25 @@ void MultiObjectTracker::measurementCallback(
         std::make_shared<BicycleTracker>(
           measurement_time, input_transformed_objects.feature_objects.at(i).object));
     } else {
-      // list_tracker_.push_back(std::make_shared<PedestrianTracker>(input_transformed_objects.feature_objects.at(i).object));
+      list_tracker_.push_back(std::make_shared<PedestrianTracker>(
+        measurement_time, input_transformed_objects.feature_objects.at(i).object));
+    }
+  }
+
+  if (!enable_delay_compensation_) {
+    // Create output msg
+    autoware_perception_msgs::msg::DynamicObjectArray output_msg;
+    output_msg.header.frame_id = world_frame_id_;
+    output_msg.header.stamp = measurement_time;
+    for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) {
+      if ((*itr)->getTotalMeasurementCount() < 3) continue;
+      autoware_perception_msgs::msg::DynamicObject object;
+      (*itr)->getEstimatedDynamicObject(measurement_time, object);
+      output_msg.objects.push_back(object);
     }
+
+    // Publish
+    dynamic_object_pub_->publish(output_msg);
   }
 }
 
@@ -175,29 +215,31 @@ void MultiObjectTracker::publishTimerCallback()
   // Guard
   if (dynamic_object_pub_->get_subscription_count() < 1) {return;}
 
-  /* life cycle check */
-  for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) {
-    if (1.0 < (*itr)->getElapsedTimeFromLastUpdate(rclcpp::Node::now())) {
-      auto erase_itr = itr;
-      --itr;
-      list_tracker_.erase(erase_itr);
+  if (enable_delay_compensation_) {
+    /* life cycle check */
+    for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) {
+      if (1.0 < (*itr)->getElapsedTimeFromLastUpdate(rclcpp::Node::now())) {
+        auto erase_itr = itr;
+        --itr;
+        list_tracker_.erase(erase_itr);
+      }
     }
-  }
 
-  // Create output msg
-  rclcpp::Time current_time = rclcpp::Node::now();
-  autoware_perception_msgs::msg::DynamicObjectArray output_msg;
-  output_msg.header.frame_id = world_frame_id_;
-  output_msg.header.stamp = current_time;
-  for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) {
-    if ((*itr)->getTotalMeasurementCount() < 3) {continue;}
-    autoware_perception_msgs::msg::DynamicObject object;
-    (*itr)->getEstimatedDynamicObject(current_time, object);
-    output_msg.objects.push_back(object);
-  }
+    // Create output msg
+    rclcpp::Time current_time = rclcpp::Node::now();
+    autoware_perception_msgs::msg::DynamicObjectArray output_msg;
+    output_msg.header.frame_id = world_frame_id_;
+    output_msg.header.stamp = current_time;
+    for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) {
+      if ((*itr)->getTotalMeasurementCount() < 3) {continue;}
+      autoware_perception_msgs::msg::DynamicObject object;
+      (*itr)->getEstimatedDynamicObject(current_time, object);
+      output_msg.objects.push_back(object);
+    }
 
-  // Publish
-  dynamic_object_pub_->publish(output_msg);
+    // Publish
+    dynamic_object_pub_->publish(output_msg);
+  }
 }
 
 RCLCPP_COMPONENTS_REGISTER_NODE(MultiObjectTracker)
diff --git a/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
index 91aa7936c0c33..7a4e2d946df56 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -84,8 +84,7 @@ bool BicycleTracker::measure(
       (object.state.pose_covariance.pose.position.y - last_measurement_posy_) *
       (object.state.pose_covariance.pose.position.y - last_measurement_posy_));
     const double max_vel = 15.0; /* [m/s]*/
-    const double vel_scale =
-      current_vel < 0.01 ? 1.0 : std::min(max_vel, current_vel) / current_vel;
+    const double vel_scale = max_vel < current_vel ? max_vel / current_vel : 1.0;
     if (is_changed_unknown_object) {
       filtered_vx_ =
         0.9 * filtered_vx_ +
diff --git a/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
index a6fa4b6ae1df0..e5bf92c8b774e 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -83,9 +83,8 @@ bool PedestrianTracker::measure(
       (object.state.pose_covariance.pose.position.x - last_measurement_posx_) +
       (object.state.pose_covariance.pose.position.y - last_measurement_posy_) *
       (object.state.pose_covariance.pose.position.y - last_measurement_posy_));
-    const double max_vel = 15.0; /* [m/s]*/
-    const double vel_scale =
-      current_vel < 0.01 ? 1.0 : std::min(max_vel, current_vel) / current_vel;
+    const double max_vel = 4.0; /* [m/s]*/
+    const double vel_scale = max_vel < current_vel ? max_vel / current_vel : 1.0;
     if (is_changed_unknown_object) {
       filtered_vx_ =
         0.9 * filtered_vx_ +
diff --git a/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/vehicle_tracker.cpp b/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/vehicle_tracker.cpp
index 17ff9d2d1180d..c11f4d1be387b 100644
--- a/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/vehicle_tracker.cpp
+++ b/perception/object_recognition/tracking/multi_object_tracker/src/tracker/model/vehicle_tracker.cpp
@@ -41,7 +41,7 @@ VehicleTracker::VehicleTracker(
   pos_filter_gain_(0.2),
   filtered_vx_(0.0),
   filtered_vy_(0.0),
-  v_filter_gain_(0.7),
+  v_filter_gain_(0.4),
   area_filter_gain_(0.8),
   last_measurement_posx_(object.state.pose_covariance.pose.position.x),
   last_measurement_posy_(object.state.pose_covariance.pose.position.y),
@@ -165,9 +165,7 @@ bool VehicleTracker::measure(
       (object.state.pose_covariance.pose.position.y - last_measurement_posy_) *
       (object.state.pose_covariance.pose.position.y - last_measurement_posy_));
     const double max_vel = 20.0; /* [m/s]*/
-    const double vel_scale =
-      current_vel < 0.01 ? 1.0 : std::min(max_vel, current_vel) / current_vel;
-
+    const double vel_scale = max_vel < current_vel ? max_vel / current_vel : 1.0;
     if (is_changed_unknown_object) {
       filtered_vx_ =
         0.95 * filtered_vx_ +
@@ -266,6 +264,15 @@ bool VehicleTracker::getEstimatedDynamicObject(
       filtered_vx_ * std::sin(-yaw) + filtered_vy_ * std::cos(-yaw);
   }
 
+  // cut microspeed
+  constexpr float min_velocity = 0.56;  // 2.0 kmph
+  if (std::fabs(object.state.twist_covariance.twist.linear.x) < min_velocity) {
+    object.state.twist_covariance.twist.linear.x = 0.0;
+  }
+  if (std::fabs(object.state.twist_covariance.twist.linear.y) < min_velocity) {
+    object.state.twist_covariance.twist.linear.y = 0.0;
+  }
+
   object.state.twist_reliable = true;
 
   return true;