diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
index 50778d226de11..754d07c6d99bf 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -66,10 +66,10 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
     </include>
-    <!-- Radar detector-->
+    <!-- Radar detector/filter-->
     <group>
       <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
         <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -181,10 +181,10 @@
 
   <!-- Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
-    <!-- Radar detector-->
+    <!-- Radar detector/filter-->
     <group>
       <push-ros-namespace namespace="radar"/>
-      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
         <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -257,8 +257,8 @@
 
   <!-- Radar based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
-    <!-- Radar detector-->
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
+    <!-- Radar detector/filter-->
+    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
       <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
similarity index 96%
rename from launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
rename to launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
index b09684281d33a..d837505649cf1 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <arg name="output/objects" default="far_objects"/>
+  <!-- Parameters -->
   <arg name="radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
-  <!-- Detection for far dynamic objects -->
+  <!-- External interfaces -->
+  <arg name="input/radar" default="/sensing/radar/detected_objects"/>
+  <arg name="output/objects" default="far_objects"/>
+
+  <!-- Radar filter pipeline -->
   <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index e5d5492523a49..5bcfe49643dce 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Merger parameters -->
+  <!-- Parameters -->
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 66570a820f50e..07ab78cd37f72 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Merger parameters -->
+  <!-- Parameters -->
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
   <arg name="far_object_merger_sync_queue_size" default="20"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index f7dc37dd7dc93..f0ce19db6c342 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Merger parameters -->
+  <!-- Parameters -->
   <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>