diff --git a/perception_eval/perception_eval/evaluation/result/object_result.py b/perception_eval/perception_eval/evaluation/result/object_result.py
index 0d5ff1bb..5d8b3bfe 100644
--- a/perception_eval/perception_eval/evaluation/result/object_result.py
+++ b/perception_eval/perception_eval/evaluation/result/object_result.py
@@ -421,6 +421,7 @@ def _get_object_results_for_tlr(
     estimated_objects_ = estimated_objects.copy()
     ground_truth_objects_ = ground_truth_objects.copy()
     # 1. matching based on same label primary
+    # NOTE: current implementation match Est/Gt pairs without considering ID, therefore it might not be right result
     for est_object in estimated_objects:
         for gt_object in ground_truth_objects:
             if est_object.uuid is None or gt_object.uuid is None:
@@ -428,11 +429,7 @@ def _get_object_results_for_tlr(
                     f"uuid of estimation and ground truth must be set, but got {est_object.uuid} and {gt_object.uuid}"
                 )
 
-            if (
-                est_object.uuid == gt_object.uuid
-                and est_object.frame_id == gt_object.frame_id
-                and est_object.semantic_label == gt_object.semantic_label
-            ):
+            if est_object.semantic_label == gt_object.semantic_label and est_object.frame_id == gt_object.frame_id and est_object in estimated_objects_ and gt_object in ground_truth_objects_:
                 object_results.append(
                     DynamicObjectWithPerceptionResult(
                         estimated_object=est_object,
@@ -441,6 +438,7 @@ def _get_object_results_for_tlr(
                 )
                 estimated_objects_.remove(est_object)
                 ground_truth_objects_.remove(gt_object)
+
     # 2. matching based on same ID
     rest_estimated_objects_ = estimated_objects_.copy()
     rest_ground_truth_objects_ = ground_truth_objects_.copy()
@@ -451,7 +449,7 @@ def _get_object_results_for_tlr(
                     f"uuid of estimation and ground truth must be set, but got {est_object.uuid} and {gt_object.uuid}"
                 )
 
-            if est_object.uuid == gt_object.uuid and est_object.frame_id == gt_object.frame_id:
+            if est_object.uuid == gt_object.uuid and est_object.frame_id == gt_object.frame_id and est_object in estimated_objects_ and gt_object in ground_truth_objects_:
                 object_results.append(
                     DynamicObjectWithPerceptionResult(
                         estimated_object=est_object,