diff --git a/perception/autoware_multi_object_tracker/README.md b/perception/autoware_multi_object_tracker/README.md
index afb1598645733..3f83817f6509f 100644
--- a/perception/autoware_multi_object_tracker/README.md
+++ b/perception/autoware_multi_object_tracker/README.md
@@ -69,7 +69,12 @@ Multiple inputs are pre-defined in the input channel parameters (described below
 
 ### Core Parameters
 
+- Node
+
 {{ json_to_markdown("perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json") }}
+
+- Association
+
 {{ json_to_markdown("perception/autoware_multi_object_tracker/schema/data_association_matrix.schema.json") }}
 
 #### Simulation parameters
diff --git a/perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json b/perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json
index f32db284c1738..d3bca273da803 100644
--- a/perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json
+++ b/perception/autoware_multi_object_tracker/schema/multi_object_tracker_node.schema.json
@@ -86,38 +86,45 @@
           "properties": {
             "UNKNOWN": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for unknown object classes.",
               "default": 3
             },
             "CAR": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for car object classes.",
               "default": 3
             },
             "TRUCK": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for truck object classes.",
               "default": 3
             },
             "BUS": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for bus object classes.",
               "default": 3
             },
             "TRAILER": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for trailer object classes.",
               "default": 3
             },
             "MOTORBIKE": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for motorbike object classes.",
               "default": 3
             },
             "BICYCLE": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for bicycle object classes.",
               "default": 3
             },
             "PEDESTRIAN": {
               "type": "number",
+              "description": "Number of measurements to consider tracker as confident for pedestrian object classes.",
               "default": 3
             }
-          },
-          "description": "Number of measurements to consider tracker as confident for different object classes."
+          }
         },
         "publish_processing_time": {
           "type": "boolean",