diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch
index b35bc1396..6e2fbc291 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch
@@ -20,14 +20,6 @@
   <arg name="image_number" default="1"/>
   <arg name="use_vector_map" default="true"/>
 
-  <!-- <include file="$(find euclidean_cluster)/launch/euclidean_cluster.launch"/> -->
-  <!-- or -->
-  <!-- <include file="$(find euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch" /> -->
-  <!-- or -->
-  <include file="$(find lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch">
-    <arg name="output/objects" default="clusters"/>
-  </include>
-
   <!-- Jetson AGX -->
   <!-- <include file="$(find tensorrt_yolo3)/launch/yolo3.launch">
     <arg name="image_raw0" default="$(arg image_raw0)"/>
@@ -41,22 +33,93 @@
     <arg name="image_number" default="$(arg image_number)"/>
   </include> -->
 
-  <include file="$(find roi_cluster_fusion)/launch/roi_cluster_fusion.launch">
-    <arg name="input_camera_info0" default="$(arg camera_info0)"/>
-    <arg name="input_camera_info1" default="$(arg camera_info1)"/>
-    <arg name="input_camera_info2" default="$(arg camera_info2)"/>
-    <arg name="input_camera_info3" default="$(arg camera_info3)"/>
-    <arg name="input_camera_info4" default="$(arg camera_info4)"/>
-    <arg name="input_camera_info5" default="$(arg camera_info5)"/>
-    <arg name="input_camera_info6" default="$(arg camera_info6)"/>
-    <arg name="input_camera_info7" default="$(arg camera_info7)"/>
-    <arg name="input_rois_number" default="$(arg image_number)"/>
-  </include>
-    
-  <!-- <include file="$(find cluster_data_association)/launch/cluster_data_association.launch" /> -->
+  <group ns="euclidean" >
+    <include file="$(find euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch" >
+      <arg name="output/clusters" default="lidar/clusters"/>
+    </include>
+    <include file="$(find roi_cluster_fusion)/launch/roi_cluster_fusion.launch">
+      <arg name="input_camera_info0" default="$(arg camera_info0)"/>
+      <arg name="input_rois0" default="/perception/object_recognition/detection/rois0"/>
+      <arg name="input_camera_info1" default="$(arg camera_info1)"/>
+      <arg name="input_rois1" default="/perception/object_recognition/detection/rois1"/>
+      <arg name="input_camera_info2" default="$(arg camera_info2)"/>
+      <arg name="input_rois2" default="/perception/object_recognition/detection/rois2"/>
+      <arg name="input_camera_info3" default="$(arg camera_info3)"/>
+      <arg name="input_rois3" default="/perception/object_recognition/detection/rois3"/>
+      <arg name="input_camera_info4" default="$(arg camera_info4)"/>
+      <arg name="input_rois4" default="/perception/object_recognition/detection/rois4"/>
+      <arg name="input_camera_info5" default="$(arg camera_info5)"/>
+      <arg name="input_rois5" default="/perception/object_recognition/detection/rois5"/>
+      <arg name="input_camera_info6" default="$(arg camera_info6)"/>
+      <arg name="input_rois6" default="/perception/object_recognition/detection/rois6"/>
+      <arg name="input_camera_info7" default="$(arg camera_info7)"/>
+      <arg name="input_rois7" default="/perception/object_recognition/detection/rois7"/>
+      <arg name="input_rois_number" default="$(arg image_number)"/>
+      <arg name="input_clusters" default="lidar/clusters"/>
+      <arg name="output" default="camera_lidar_fusion/clusters"/>
+    </include>
+    <include file="$(find shape_estimation)/launch/shape_estimation.launch">
+      <arg name="use_map_corrent" default="$(arg use_vector_map)"/>
+      <arg name="input/objects" default="camera_lidar_fusion/clusters" />
+      <arg name="output/objects" default="camera_lidar_fusion/objects" />
+      <arg name="orientation_reliable" default="false"/>
+    </include>
+    <include file="$(find object_range_splitter)/launch/object_range_splitter.launch">
+      <arg name="input/object" default="camera_lidar_fusion/objects"/>
+      <arg name="output/long_range_object" default="camera_lidar_fusion/long_range_objects"/>
+      <arg name="output/short_range_object" default="camera_lidar_fusion/short_range_objects"/>
+      <arg name="split_range" default="10"/>
+    </include>
+  </group>
 
-  <include file="$(find shape_estimation)/launch/shape_estimation.launch">
-    <arg name="use_map_corrent" default="$(arg use_vector_map)"/>
-    <arg name="output/objects" default="objects" />
+  <group ns="apollo" >
+    <include file="$(find lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch">
+      <arg name="output/objects" default="lidar/clusters"/>
+    </include>
+    <include file="$(find shape_estimation)/launch/shape_estimation.launch">
+      <arg name="use_map_corrent" default="$(arg use_vector_map)"/>
+      <arg name="input/objects" default="lidar/clusters" />
+      <arg name="output/objects" default="lidar/objects" />
+      <arg name="orientation_reliable" default="true"/>
+    </include>
+    <include file="$(find object_range_splitter)/launch/object_range_splitter.launch">
+      <arg name="input/object" default="lidar/objects"/>
+      <arg name="output/long_range_object" default="lidar/long_range_objects"/>
+      <arg name="output/short_range_object" default="lidar/short_range_objects"/>
+      <arg name="split_range" default="15"/>
+    </include>
+    <include file="$(find roi_cluster_fusion)/launch/roi_cluster_fusion.launch">
+      <arg name="input_camera_info0" default="$(arg camera_info0)"/>
+      <arg name="input_rois0" default="/perception/object_recognition/detection/rois0"/>
+      <arg name="input_camera_info1" default="$(arg camera_info1)"/>
+      <arg name="input_rois1" default="/perception/object_recognition/detection/rois1"/>
+      <arg name="input_camera_info2" default="$(arg camera_info2)"/>
+      <arg name="input_rois2" default="/perception/object_recognition/detection/rois2"/>
+      <arg name="input_camera_info3" default="$(arg camera_info3)"/>
+      <arg name="input_rois3" default="/perception/object_recognition/detection/rois3"/>
+      <arg name="input_camera_info4" default="$(arg camera_info4)"/>
+      <arg name="input_rois4" default="/perception/object_recognition/detection/rois4"/>
+      <arg name="input_camera_info5" default="$(arg camera_info5)"/>
+      <arg name="input_rois5" default="/perception/object_recognition/detection/rois5"/>
+      <arg name="input_camera_info6" default="$(arg camera_info6)"/>
+      <arg name="input_rois6" default="/perception/object_recognition/detection/rois6"/>
+      <arg name="input_camera_info7" default="$(arg camera_info7)"/>
+      <arg name="input_rois7" default="/perception/object_recognition/detection/rois7"/>
+      <arg name="input_rois_number" default="$(arg image_number)"/>
+      <arg name="input_clusters" default="lidar/short_range_objects"/>
+      <arg name="output" default="camera_lidar_fusion/short_range_objects"/>
+    </include>
+    <include file="$(find object_merger)/launch/object_association_merger.launch">
+      <arg name="input/object0" default="camera_lidar_fusion/short_range_objects"/>
+      <arg name="input/object1" default="lidar/long_range_objects"/>
+      <arg name="output/object" default="camera_lidar_fusion/objects"/>
+    </include>
+  </group>
+
+  <include file="$(find object_merger)/launch/object_association_merger.launch">
+    <arg name="input/object0" default="apollo/camera_lidar_fusion/objects"/>
+    <arg name="input/object1" default="euclidean/camera_lidar_fusion/short_range_objects"/>
+    <arg name="output/object" default="objects"/>
   </include>
+
 </launch>