diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
index 2a550b340e82c..3ac45d239cd37 100644
--- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -216,6 +216,13 @@ bool PedestrianTracker::measureWithShape(
     return false;
   }
 
+  // set minimum size
+  bounding_box_.length = std::max(bounding_box_.length, 0.3);
+  bounding_box_.width = std::max(bounding_box_.width, 0.3);
+  bounding_box_.height = std::max(bounding_box_.height, 0.8);
+  cylinder_.width = std::max(cylinder_.width, 0.3);
+  cylinder_.height = std::max(cylinder_.height, 0.8);
+
   return true;
 }