diff --git a/perception/bytetrack/README.md b/perception/bytetrack/README.md
index cabbdd2f05836..90116c4dae7e5 100644
--- a/perception/bytetrack/README.md
+++ b/perception/bytetrack/README.md
@@ -25,7 +25,7 @@ the number of false negatives is expected to decrease by using it.
 The paper just says that the 2d tracking algorithm is a simple Kalman filter.
 Original codes use the `top-left-corner` and `aspect ratio` and `size` as the state vector.
 
-This is sometimes unstable because the aspectratio can be changed by the occlusion.
+This is sometimes unstable because the aspect ratio can be changed by the occlusion.
 So, we use the `top-left` and `size` as the state vector.
 
 Kalman filter settings can be controlled by the parameters in `config/bytetrack_node.param.yaml`.
diff --git a/perception/bytetrack/lib/include/data_type.h b/perception/bytetrack/lib/include/data_type.h
index 896e021538cae..64e8acc6c1e50 100644
--- a/perception/bytetrack/lib/include/data_type.h
+++ b/perception/bytetrack/lib/include/data_type.h
@@ -50,7 +50,7 @@ typedef Eigen::Matrix<float, 1, 128, Eigen::RowMajor> FEATURE;
 typedef Eigen::Matrix<float, Eigen::Dynamic, 128, Eigen::RowMajor> FEATURESS;
 // typedef std::vector<FEATURE> FEATURESS;
 
-// Kalmanfilter
+// Kalman Filter
 // typedef Eigen::Matrix<float, 8, 8, Eigen::RowMajor> KAL_FILTER;
 typedef Eigen::Matrix<float, 1, 8, Eigen::RowMajor> KAL_MEAN;
 typedef Eigen::Matrix<float, 8, 8, Eigen::RowMajor> KAL_COVA;
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py b/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py
index c15daaf886b6f..e73aea581433e 100644
--- a/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py
+++ b/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py
@@ -57,7 +57,7 @@ def generate_test_description():
         FindPackageShare(PACKAGE_NAME).find(PACKAGE_NAME)
         + "/launch/synchronized_occupancy_grid_map_fusion.launch.xml"
     )
-    # use default launch arguments and parms
+    # use default launch arguments and params
     launch_args = []
     # action to include launch file
     test_launch_file = launch.actions.IncludeLaunchDescription(
diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
index 32bede24b237f..b22b8d5fa2948 100644
--- a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
+++ b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
@@ -380,7 +380,7 @@ TrackerState DecorativeTrackerMergerNode::createNewTracker(
   const MEASUREMENT_STATE input_index, rclcpp::Time current_time,
   const autoware_auto_perception_msgs::msg::TrackedObject & input_object)
 {
-  // check if object id is not included in innner_tracker_objects_
+  // check if object id is not included in inner_tracker_objects_
   for (const auto & object : inner_tracker_objects_) {
     if (object.const_uuid_ == input_object.object_id) {
       // create new uuid