diff --git a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
index 393bb949d0..385eb335c3 100644
--- a/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
+++ b/perception_launch/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -50,3 +50,13 @@
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #MOTORBIKE
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #PEDESTRIAN
        3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150]  #ANIMAL
+    min_iou_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
+      [0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #UNKNOWN
+       0.1,     0.3,   0.2,   0.2,    0.1,     0.1,       0.1,        0.1,  #CAR
+       0.1,     0.2,   0.3,   0.3,    0.1,     0.1,       0.1,        0.1,  #TRUCK
+       0.1,     0.2,   0.3,   0.3,    0.1,     0.1,       0.1,        0.1,  #BUS
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #BICYCLE
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #MOTORBIKE
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1,  #PEDESTRIAN
+       0.1,     0.1,   0.1,   0.1,    0.1,     0.1,       0.1,        0.1]  #ANIMAL