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diff --git a/‎perception/radar_crossing_objects_noise_filter/CMakeLists.txt
+40 b/‎perception/radar_crossing_objects_noise_filter/CMakeLists.txt
+40
diff --git a/‎perception/radar_crossing_objects_noise_filter/README.md
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+cmake_minimum_required(VERSION 3.5)
+project(radar_crossing_objects_noise_filter)
+
+# Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Dependencies
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+# Targets
+ament_auto_add_library(radar_crossing_objects_noise_filter_node_component SHARED
+  src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
+)
+
+rclcpp_components_register_node(radar_crossing_objects_noise_filter_node_component
+  PLUGIN "radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode"
+  EXECUTABLE radar_crossing_objects_noise_filter_node
+)
+
+# Tests
+if(BUILD_TESTING)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Package
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+)
@@ -0,0 +1,72 @@
+# radar_crossing_objects_noise_filter
+
+This package contains a radar noise filter module for [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl).
+This package can filter the noise objects which cross to the ego vehicle.
+
+## Algorithm
+
+### Background
+
+This package aim to filter the noise objects which cross from the ego vehicle.
+The reason why these objects are noise is as below.
+
+- 1. The objects with doppler velocity can be trusted more than those with vertical velocity to it.
+
+Radars can get velocity information of objects as doppler velocity, but cannot get vertical velocity to doppler velocity directory.
+Some radars can output the objects with not only doppler velocity but also vertical velocity by estimation.
+If the vertical velocity estimation is poor, it leads to output noise objects.
+In other words, the above situation is that the objects which has vertical twist viewed from ego vehicle can tend to be noise objects.
+
+The example is below figure.
+Velocity estimation fails on static objects, resulting in ghost objects crossing in front of ego vehicles.
+
+![vertical_velocity_objects](docs/vertical_velocity_objects.png)
+
+- 2. Turning around by ego vehicle affect the output from radar.
+
+When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/radar_tracks_msgs_converter) compensates by the ego vehicle twist.
+So if an object detected by radars has circular motion viewing from base_link, it is likely that the speed is estimated incorrectly and that the object is a static object.
+
+The example is below figure.
+When the ego vehicle turn right, the surrounding objects have left circular motion.
+
+![turning_around](docs/turning_around.png)
+
+### Detail Algorithm
+
+To filter the objects crossing to ego vehicle, this package filter the objects as below algorithm.
+
+![algorithm](docs/radar_crossing_objects_noise_filter.drawio.svg)
+
+```cpp
+  // If velocity of an object is rather than the velocity_threshold,
+  // and crossing_yaw is near to vertical
+  // angle_threshold < crossing_yaw < pi - angle_threshold
+  if (
+    velocity > node_param_.velocity_threshold &&
+    abs(std::cos(crossing_yaw)) < abs(std::cos(node_param_.angle_threshold))) {
+    // Object is noise object;
+  } else {
+    // Object is not noise object;
+  }
+```
+
+## Input
+
+| Name              | Type                                                  | Description    |
+| ----------------- | ----------------------------------------------------- | -------------- |
+| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. |
+
+## Output
+
+| Name                        | Type                                                  | Description      |
+| --------------------------- | ----------------------------------------------------- | ---------------- |
+| `~/output/noise_objects`    | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Noise objects    |
+| `~/output/filtered_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Filtered objects |
+
+## Parameters
+
+| Name                 | Type   | Description                                                                                                                                         | Default value |
+| :------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
+| `angle_threshold`    | double | The angle threshold parameter to filter [rad]. This parameter has condition that 0 < `angle_threshold` < pi / 2. See algorithm chapter for details. | 1.0472        |
+| `velocity_threshold` | double | The velocity threshold parameter to filter [m/s]. See algorithm chapter for details.                                                                | 3.0           |