diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
index 99d85089be..952dc434ff 100644
--- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    input_offset_ms: [50.0, 66.67, 83.33, 0.0, 16.67, 33.33, 50.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
     image_buffer_size: 15
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5ef8ca8ca2..c98357d429 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -32,6 +32,7 @@
     <arg name="use_low_height_cropbox" value="true"/>
     <arg name="use_roi_based_cluster" value="false"/>
     <arg name="use_detection_by_tracker" value="true"/>
+    <arg name="image_number" value="7"/>
 
     <!-- object recognition -->
     <arg