diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
index f247451e3c94e..2acc4f447cb50 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -367,7 +367,7 @@ void MultiObjectTracker::checkTrackerLifeCycle(
   std::list<std::shared_ptr<Tracker>> & list_tracker, const rclcpp::Time & time)
 {
   /* params */
-  constexpr float max_elapsed_time = 0.15;
+  constexpr float max_elapsed_time = 1.0;
 
   /* delete tracker */
   for (auto itr = list_tracker.begin(); itr != list_tracker.end(); ++itr) {