diff --git a/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml b/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml
index 662362c4fd7c5..347cb57b484e9 100644
--- a/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml
+++ b/perception/autoware_image_projection_based_fusion/config/fusion_common.param.yaml
@@ -12,3 +12,6 @@
     filter_scope_max_x: 100.0
     filter_scope_max_y: 100.0
     filter_scope_max_z: 100.0
+
+    # debug parameters
+    publish_processing_time_detail: false
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp
index c9b4f1f7b903f..04ecf89faa0d4 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/fusion_node.hpp
@@ -18,6 +18,7 @@
 #include <autoware/image_projection_based_fusion/debugger.hpp>
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/system/time_keeper.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -142,6 +143,11 @@ class FusionNode : public rclcpp::Node
   /** \brief processing time publisher. **/
   std::unique_ptr<autoware::universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
   std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
+
+  // timekeeper
+  rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr
+    detailed_processing_time_publisher_;
+  std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_;
 };
 
 }  // namespace autoware::image_projection_based_fusion
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp
index 2c0283a190023..be05c0a1c4bc6 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_cluster_fusion/node.hpp
@@ -53,6 +53,7 @@ class RoiClusterFusionNode
   double fusion_distance_;
   double trust_object_distance_;
   std::string non_trust_object_iou_mode_{"iou_x"};
+
   bool is_far_enough(const DetectedObjectWithFeature & obj, const double distance_threshold);
   bool out_of_scope(const DetectedObjectWithFeature & obj) override;
   double cal_iou_by_mode(
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp
index 4de49df61a071..9baf754e224a7 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/roi_pointcloud_fusion/node.hpp
@@ -19,8 +19,10 @@
 
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
 
+#include <memory>
 #include <string>
 #include <vector>
+
 namespace autoware::image_projection_based_fusion
 {
 class RoiPointCloudFusionNode
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
index b09e9521bdcdb..0bec3195bb402 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
@@ -20,6 +20,7 @@
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
 #include <image_transport/image_transport.hpp>
 
+#include <memory>
 #include <string>
 #include <unordered_set>
 #include <utility>
diff --git a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
index 6c575752b52e5..bd4d57e45c582 100644
--- a/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
@@ -42,6 +42,7 @@ static double processing_time_ms = 0;
 
 namespace autoware::image_projection_based_fusion
 {
+using autoware::universe_utils::ScopedTimeTrack;
 
 template <class TargetMsg3D, class ObjType, class Msg2D>
 FusionNode<TargetMsg3D, ObjType, Msg2D>::FusionNode(
@@ -130,6 +131,17 @@ FusionNode<TargetMsg3D, ObjType, Msg2D>::FusionNode(
     debugger_ =
       std::make_shared<Debugger>(this, rois_number_, image_buffer_size, input_camera_topics_);
   }
+
+  // time keeper
+  bool use_time_keeper = declare_parameter<bool>("publish_processing_time_detail");
+  if (use_time_keeper) {
+    detailed_processing_time_publisher_ =
+      this->create_publisher<autoware::universe_utils::ProcessingTimeDetail>(
+        "~/debug/processing_time_detail_ms", 1);
+    auto time_keeper = autoware::universe_utils::TimeKeeper(detailed_processing_time_publisher_);
+    time_keeper_ = std::make_shared<autoware::universe_utils::TimeKeeper>(time_keeper);
+  }
+
   point_project_to_unrectified_image_ =
     declare_parameter<bool>("point_project_to_unrectified_image");
 
@@ -170,6 +182,9 @@ template <class TargetMsg3D, class Obj, class Msg2D>
 void FusionNode<TargetMsg3D, Obj, Msg2D>::subCallback(
   const typename TargetMsg3D::ConstSharedPtr input_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   if (cached_msg_.second != nullptr) {
     stop_watch_ptr_->toc("processing_time", true);
     timer_->cancel();
@@ -306,6 +321,9 @@ template <class TargetMsg3D, class Obj, class Msg2D>
 void FusionNode<TargetMsg3D, Obj, Msg2D>::roiCallback(
   const typename Msg2D::ConstSharedPtr input_roi_msg, const std::size_t roi_i)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   stop_watch_ptr_->toc("processing_time", true);
 
   int64_t timestamp_nsec = (*input_roi_msg).header.stamp.sec * static_cast<int64_t>(1e9) +
@@ -378,6 +396,9 @@ void FusionNode<TargetMsg3D, Obj, Msg2D>::postprocess(TargetMsg3D & output_msg
 template <class TargetMsg3D, class Obj, class Msg2D>
 void FusionNode<TargetMsg3D, Obj, Msg2D>::timer_callback()
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   using std::chrono_literals::operator""ms;
   timer_->cancel();
   if (mutex_cached_msgs_.try_lock()) {
diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index d4601e26dda46..4d12de2685c95 100644
--- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -24,6 +24,7 @@
 #include <autoware/lidar_centerpoint/utils.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/math/constants.hpp>
+#include <autoware/universe_utils/system/time_keeper.hpp>
 #include <pcl_ros/transforms.hpp>
 
 #include <omp.h>
@@ -35,6 +36,7 @@
 
 namespace
 {
+using autoware::universe_utils::ScopedTimeTrack;
 
 Eigen::Affine3f _transformToEigen(const geometry_msgs::msg::Transform & t)
 {
@@ -202,6 +204,9 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
 
 void PointPaintingFusionNode::preprocess(sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   if (painted_pointcloud_msg.data.empty() || painted_pointcloud_msg.fields.empty()) {
     RCLCPP_WARN_STREAM_THROTTLE(
       this->get_logger(), *this->get_clock(), 1000, "Empty sensor points!");
@@ -273,6 +278,9 @@ void PointPaintingFusionNode::fuseOnSingleImage(
 
   if (!checkCameraInfo(camera_info)) return;
 
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   std::vector<sensor_msgs::msg::RegionOfInterest> debug_image_rois;
   std::vector<Eigen::Vector2d> debug_image_points;
 
@@ -372,6 +380,10 @@ dc   | dc dc dc  dc ||zc|
   }
 
   if (debugger_) {
+    std::unique_ptr<ScopedTimeTrack> inner_st_ptr;
+    if (time_keeper_)
+      inner_st_ptr = std::make_unique<ScopedTimeTrack>("publish debug message", *time_keeper_);
+
     debugger_->image_rois_ = debug_image_rois;
     debugger_->obstacle_points_ = debug_image_points;
     debugger_->publishImage(image_id, input_roi_msg.header.stamp);
@@ -380,6 +392,9 @@ dc   | dc dc dc  dc ||zc|
 
 void PointPaintingFusionNode::postprocess(sensor_msgs::msg::PointCloud2 & painted_pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   const auto objects_sub_count =
     obj_pub_ptr_->get_subscription_count() + obj_pub_ptr_->get_intra_process_subscription_count();
   if (objects_sub_count < 1) {
diff --git a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
index 9a94613a2b788..7520647544684 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_cluster_fusion/node.cpp
@@ -16,12 +16,14 @@
 
 #include <autoware/image_projection_based_fusion/utils/geometry.hpp>
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
+#include <autoware/universe_utils/system/time_keeper.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
 #include <algorithm>
 #include <map>
+#include <memory>
 #include <string>
 #include <utility>
 #include <vector>
@@ -36,6 +38,7 @@
 
 namespace autoware::image_projection_based_fusion
 {
+using autoware::universe_utils::ScopedTimeTrack;
 
 RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options)
 : FusionNode<DetectedObjectsWithFeature, DetectedObjectWithFeature, DetectedObjectsWithFeature>(
@@ -55,6 +58,9 @@ RoiClusterFusionNode::RoiClusterFusionNode(const rclcpp::NodeOptions & options)
 
 void RoiClusterFusionNode::preprocess(DetectedObjectsWithFeature & output_cluster_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   // reset cluster semantic type
   if (!use_cluster_semantic_type_) {
     for (auto & feature_object : output_cluster_msg.feature_objects) {
@@ -67,6 +73,9 @@ void RoiClusterFusionNode::preprocess(DetectedObjectsWithFeature & output_cluste
 
 void RoiClusterFusionNode::postprocess(DetectedObjectsWithFeature & output_cluster_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   if (!remove_unknown_) {
     return;
   }
@@ -91,6 +100,9 @@ void RoiClusterFusionNode::fuseOnSingleImage(
 {
   if (!checkCameraInfo(camera_info)) return;
 
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   image_geometry::PinholeCameraModel pinhole_camera_model;
   pinhole_camera_model.fromCameraInfo(camera_info);
 
@@ -110,6 +122,7 @@ void RoiClusterFusionNode::fuseOnSingleImage(
   }
 
   std::map<std::size_t, RegionOfInterest> m_cluster_roi;
+
   for (std::size_t i = 0; i < input_cluster_msg.feature_objects.size(); ++i) {
     if (input_cluster_msg.feature_objects.at(i).feature.cluster.data.empty()) {
       continue;
diff --git a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
index 3ef3af8168f53..035bc259ab73c 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp
@@ -18,14 +18,17 @@
 
 #include <autoware/image_projection_based_fusion/utils/geometry.hpp>
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
+#include <autoware/universe_utils/system/time_keeper.hpp>
 
 #include <algorithm>
 #include <map>
+#include <memory>
 #include <utility>
 #include <vector>
 
 namespace autoware::image_projection_based_fusion
 {
+using autoware::universe_utils::ScopedTimeTrack;
 
 RoiDetectedObjectFusionNode::RoiDetectedObjectFusionNode(const rclcpp::NodeOptions & options)
 : FusionNode<DetectedObjects, DetectedObject, DetectedObjectsWithFeature>(
@@ -49,6 +52,9 @@ RoiDetectedObjectFusionNode::RoiDetectedObjectFusionNode(const rclcpp::NodeOptio
 
 void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   std::vector<bool> passthrough_object_flags, fused_object_flags, ignored_object_flags;
   passthrough_object_flags.resize(output_msg.objects.size());
   fused_object_flags.resize(output_msg.objects.size());
@@ -81,6 +87,9 @@ void RoiDetectedObjectFusionNode::fuseOnSingleImage(
   const sensor_msgs::msg::CameraInfo & camera_info,
   DetectedObjects & output_object_msg __attribute__((unused)))
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   if (!checkCameraInfo(camera_info)) return;
 
   Eigen::Affine3d object2camera_affine;
@@ -117,6 +126,9 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
   const Eigen::Affine3d & object2camera_affine,
   const image_geometry::PinholeCameraModel & pinhole_camera_model)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   std::map<std::size_t, DetectedObjectWithFeature> object_roi_map;
   int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast<int64_t>(1e9) +
                            input_object_msg.header.stamp.nanosec;
@@ -202,6 +214,9 @@ void RoiDetectedObjectFusionNode::fuseObjectsOnImage(
   const std::vector<DetectedObjectWithFeature> & image_rois,
   const std::map<std::size_t, DetectedObjectWithFeature> & object_roi_map)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast<int64_t>(1e9) +
                            input_object_msg.header.stamp.nanosec;
   if (fused_object_flags_map_.size() == 0 || ignored_object_flags_map_.size() == 0) {
diff --git a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
index f9eb4ef909282..206a5f77a0235 100644
--- a/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
@@ -17,6 +17,9 @@
 #include "autoware/image_projection_based_fusion/utils/geometry.hpp"
 #include "autoware/image_projection_based_fusion/utils/utils.hpp"
 
+#include <autoware/universe_utils/system/time_keeper.hpp>
+
+#include <memory>
 #include <vector>
 
 #ifdef ROS_DISTRO_GALACTIC
@@ -31,6 +34,8 @@
 
 namespace autoware::image_projection_based_fusion
 {
+using autoware::universe_utils::ScopedTimeTrack;
+
 RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & options)
 : FusionNode<PointCloud2, DetectedObjectWithFeature, DetectedObjectsWithFeature>(
     "roi_pointcloud_fusion", options)
@@ -47,12 +52,18 @@ RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & opt
 void RoiPointCloudFusionNode::preprocess(
   __attribute__((unused)) sensor_msgs::msg::PointCloud2 & pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   return;
 }
 
 void RoiPointCloudFusionNode::postprocess(
   __attribute__((unused)) sensor_msgs::msg::PointCloud2 & pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   const auto objects_sub_count = pub_objects_ptr_->get_subscription_count() +
                                  pub_objects_ptr_->get_intra_process_subscription_count();
   if (objects_sub_count < 1) {
@@ -81,6 +92,9 @@ void RoiPointCloudFusionNode::fuseOnSingleImage(
   const sensor_msgs::msg::CameraInfo & camera_info,
   __attribute__((unused)) sensor_msgs::msg::PointCloud2 & output_pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   if (input_pointcloud_msg.data.empty()) {
     return;
   }
diff --git a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
index e678a956bc64e..afeff213c0afe 100644
--- a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
@@ -17,6 +17,7 @@
 #include "autoware/image_projection_based_fusion/utils/geometry.hpp"
 #include "autoware/image_projection_based_fusion/utils/utils.hpp"
 
+#include <autoware/universe_utils/system/time_keeper.hpp>
 #include <perception_utils/run_length_encoder.hpp>
 
 #include <memory>
@@ -32,6 +33,8 @@
 
 namespace autoware::image_projection_based_fusion
 {
+using autoware::universe_utils::ScopedTimeTrack;
+
 SegmentPointCloudFusionNode::SegmentPointCloudFusionNode(const rclcpp::NodeOptions & options)
 : FusionNode<PointCloud2, PointCloud2, Image>("segmentation_pointcloud_fusion", options)
 {
@@ -49,11 +52,17 @@ SegmentPointCloudFusionNode::SegmentPointCloudFusionNode(const rclcpp::NodeOptio
 
 void SegmentPointCloudFusionNode::preprocess(__attribute__((unused)) PointCloud2 & pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   return;
 }
 
 void SegmentPointCloudFusionNode::postprocess(PointCloud2 & pointcloud_msg)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   auto original_cloud = std::make_shared<PointCloud2>(pointcloud_msg);
 
   int point_step = original_cloud->point_step;
@@ -82,6 +91,9 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage(
   [[maybe_unused]] const Image & input_mask, __attribute__((unused)) const CameraInfo & camera_info,
   __attribute__((unused)) PointCloud2 & output_cloud)
 {
+  std::unique_ptr<ScopedTimeTrack> st_ptr;
+  if (time_keeper_) st_ptr = std::make_unique<ScopedTimeTrack>(__func__, *time_keeper_);
+
   if (input_pointcloud_msg.data.empty()) {
     return;
   }