diff --git a/perception/lidar_apollo_segmentation_tvm/design/lidar-segmentation-design.md b/perception/lidar_apollo_segmentation_tvm/design/lidar-segmentation-design.md
index 5b8680ad9f380..1af6ecae17e57 100644
--- a/perception/lidar_apollo_segmentation_tvm/design/lidar-segmentation-design.md
+++ b/perception/lidar_apollo_segmentation_tvm/design/lidar-segmentation-design.md
@@ -30,4 +30,4 @@ The package exports a boolean `lidar_apollo_segmentation_tvm_BUILT` cmake variab
 
 ## Reference
 
-Lidar segmentation is based off a core algorithm by [Apollo](https://github.com/ApolloAuto/apollo/blob/master/docs/06_Perception/3d_obstacle_perception.md), with modifications from [TierIV] (<https://github.com/tier4/lidar_instance_segmentation_tvm>) for the TVM backend.
+Lidar segmentation is based off a core algorithm by [Apollo](https://github.com/ApolloAuto/apollo/blob/r6.0.0/docs/specs/3d_obstacle_perception.md), with modifications from [TierIV] (<https://github.com/tier4/lidar_instance_segmentation_tvm>) for the TVM backend.