diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 5f92d25022a22..eab2a56607dee 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -339,22 +339,11 @@
     </include>
   </group>
 
-  <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
-      <arg name="input/object1" value="roi_pointcloud_fusion/objects"/>
-      <arg name="output/object" value="$(var lidar_detection_model)_roi_fusion/objects"/>
-      <arg name="priority_mode" value="0"/>
-      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    </include>
-  </group>
-
   <group>
     <let name="merger/output/objects" value="objects_before_filter" if="$(var use_object_filter)"/>
     <let name="merger/output/objects" value="$(var output/objects)" unless="$(var use_object_filter)"/>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="$(var lidar_detection_model)_roi_fusion/objects"/>
+      <arg name="input/object0" value="$(var lidar_detection_model)_roi_cluster_fusion/objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="priority_mode" value="0"/>
       <arg name="output/object" value="$(var merger/output/objects)"/>