diff --git a/Content/Materials/PP_Segmentation.uasset b/Content/Materials/PP_Segmentation.uasset
new file mode 100644
index 00000000..5db2eb55
Binary files /dev/null and b/Content/Materials/PP_Segmentation.uasset differ
diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
index 7358cb74..f6da4b49 100644
--- a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
+++ b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
@@ -1,7 +1,6 @@
 // Copyright 2020-2023 Rapyuta Robotics Co., Ltd.
 
 #include "Sensors/RRROS2CameraComponent.h"
-
 #include "BufferVisualizationData.h"
 
 URRROS2CameraComponent::URRROS2CameraComponent()
@@ -21,28 +20,56 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
 {
     SceneCaptureComponent->FOVAngle = CameraComponent->FieldOfView;
     SceneCaptureComponent->OrthoWidth = CameraComponent->OrthoWidth;
+    SceneCaptureComponent->ShowFlags.SetTemporalAA(true);
+    
+    RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
 
-    // Set capture source and image properties based on camera type
     if (CameraType == EROS2CameraType::RGB)
     {
-        SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_FinalColorHDR;
-        RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
+        SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_SceneColorHDR;
+
+        RenderTarget->RenderTargetFormat = ETextureRenderTargetFormat::RTF_RGBA8;
         RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_B8G8R8A8, true);
 
         Data.Encoding = TEXT("bgr8");
         Data.Step = Width * 3;
+        Data.Data.AddUninitialized(Width * Height * 3);
     }
     else if (CameraType == EROS2CameraType::DEPTH)
     {
         CameraComponent->PostProcessSettings.WeightedBlendables.Array.Add(
-            FWeightedBlendable(1.0f, GetBufferVisualizationData().GetMaterial(TEXT("SceneDepth"))));
+            FWeightedBlendable(1.0f, GetBufferVisualizationData().GetMaterial(TEXT("SceneDepth")))
+        );
         SceneCaptureComponent->PostProcessSettings = CameraComponent->PostProcessSettings;
         SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_SceneDepth;
 
-        RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
+        RenderTarget->RenderTargetFormat = ETextureRenderTargetFormat::RTF_RGBA32f;
         RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_FloatRGBA, false);
+        
         Data.Encoding = TEXT("32FC1");
         Data.Step = Width * 4;
+        Data.Data.AddUninitialized(Width * Height * 4);
+    }
+    else if (CameraType == EROS2CameraType::SEGMENT)
+    {
+        SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
+        SceneCaptureComponent->ShowFlags.SetPostProcessing(true);
+        
+        // material reference: /Script/Engine.Material'/RapyutaSimulationPlugins/Materials/PP_Segmentation.PP_Segmentation'
+        UMaterial* PostProcessMaterial = LoadObject<UMaterial>(nullptr, TEXT("/RapyutaSimulationPlugins/Materials/PP_Segmentation.PP_Segmentation"));
+        
+        if(PostProcessMaterial){ // check nullptr
+            SceneCaptureComponent->AddOrUpdateBlendable(PostProcessMaterial);
+        } else {
+            UE_LOG(LogTemp, Log, TEXT("No PostProcessMaterial is assigend"));
+        }
+
+        RenderTarget->RenderTargetFormat = ETextureRenderTargetFormat::RTF_RGBA8;
+        RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_B8G8R8A8, true);
+
+        Data.Encoding = TEXT("bgr8");
+        Data.Step = Width * 3;
+        Data.Data.AddUninitialized(Width * Height * 3);
     }
 
     // Common setup
@@ -50,15 +77,13 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
     Data.Header.FrameId = FrameId;
     Data.Width = Width;
     Data.Height = Height;
-    Data.Data.AddUninitialized(Width * Height * (CameraType == EROS2CameraType::RGB ? 3 : 4));
     QueueSize = QueueSize < 1 ? 1 : QueueSize;    // QueueSize should be more than 1
     Super::PreInitializePublisher(InROS2Node, InTopicName);
 }
 
 void URRROS2CameraComponent::SensorUpdate()
 {
-    if (Render)
-    {
+    if (Render) {
         SceneCaptureComponent->CaptureScene();
         CaptureNonBlocking();
     }
@@ -94,7 +119,7 @@ void URRROS2CameraComponent::CaptureNonBlocking()
     FIntRect rect(0, 0, renderTargetResource->GetSizeXY().X, renderTargetResource->GetSizeXY().Y);
     FReadSurfaceDataFlags flags(RCM_UNorm, CubeFace_MAX);
 
-    if (CameraType == EROS2CameraType::RGB)
+    if (CameraType == EROS2CameraType::RGB || CameraType == EROS2CameraType::SEGMENT)
     {
         FReadSurfaceContextRGB readSurfaceContext = {renderTargetResource, &(renderRequest->Image), rect, flags};
 
@@ -102,10 +127,11 @@ void URRROS2CameraComponent::CaptureNonBlocking()
         (
             [readSurfaceContext, this](FRHICommandListImmediate& RHICmdList)
             {
-                RHICmdList.ReadSurfaceData(readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
-                                           readSurfaceContext.Rect,
-                                           *readSurfaceContext.OutData,
-                                           readSurfaceContext.Flags);
+                RHICmdList.ReadSurfaceData(
+                    readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
+                    readSurfaceContext.Rect,
+                    *readSurfaceContext.OutData,
+                    readSurfaceContext.Flags);
             });
     }
     else if (CameraType == EROS2CameraType::DEPTH)
@@ -116,10 +142,11 @@ void URRROS2CameraComponent::CaptureNonBlocking()
         (
             [readSurfaceContext, this](FRHICommandListImmediate& RHICmdList)
             {
-                RHICmdList.ReadSurfaceFloatData(readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
-                                                readSurfaceContext.Rect,
-                                                *readSurfaceContext.Depth,
-                                                readSurfaceContext.Flags);
+                RHICmdList.ReadSurfaceFloatData(
+                    readSurfaceContext.SrcRenderTarget->GetRenderTargetTexture(),
+                    readSurfaceContext.Rect,
+                    *readSurfaceContext.Depth,
+                    readSurfaceContext.Flags);
             });
     }
 
@@ -140,8 +167,7 @@ void URRROS2CameraComponent::CaptureNonBlocking()
 
 FROSImg URRROS2CameraComponent::GetROS2Data()
 {
-    if (!RenderRequestQueue.IsEmpty())
-    {
+    if (!RenderRequestQueue.IsEmpty()) {
         // Timestamp
         Data.Header.Stamp = URRConversionUtils::FloatToROSStamp(UGameplayStatics::GetTimeSeconds(GetWorld()));
         // Peek the next RenderRequest from queue
@@ -149,17 +175,17 @@ FROSImg URRROS2CameraComponent::GetROS2Data()
         RenderRequestQueue.Peek(nextRenderRequest);
         if (nextRenderRequest && nextRenderRequest->RenderFence.IsFenceComplete())
         {
-            if (CameraType == EROS2CameraType::RGB)
+            if (CameraType == EROS2CameraType::RGB || CameraType == EROS2CameraType::SEGMENT)
             {
                 // Process RGB data
-                for (int i = 0; i < nextRenderRequest->Image.Num(); i++)
+                for (int i = 0; i < nextRenderRequest->Image.Num(); i++) 
                 {
                     Data.Data[i * 3 + 0] = nextRenderRequest->Image[i].B;
                     Data.Data[i * 3 + 1] = nextRenderRequest->Image[i].G;
                     Data.Data[i * 3 + 2] = nextRenderRequest->Image[i].R;
                 }
             }
-            else if (CameraType == EROS2CameraType::DEPTH)
+            else if (CameraType == EROS2CameraType::DEPTH) 
             {
                 // Process Depth data
                 for (int i = 0; i < nextRenderRequest->Depth.Num(); i++)
@@ -174,6 +200,7 @@ FROSImg URRROS2CameraComponent::GetROS2Data()
             QueueCount--;
             delete nextRenderRequest;
         }
+
     }
     return Data;
 }
@@ -181,4 +208,4 @@ FROSImg URRROS2CameraComponent::GetROS2Data()
 void URRROS2CameraComponent::SetROS2Msg(UROS2GenericMsg* InMessage)
 {
     CastChecked<UROS2ImgMsg>(InMessage)->SetMsg(GetROS2Data());
-}
+}
\ No newline at end of file
diff --git a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
index 1d49eed1..b9a1f23d 100644
--- a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
+++ b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
@@ -38,7 +38,8 @@ UENUM(BlueprintType)
 enum class EROS2CameraType : uint8
 {
     RGB UMETA(DisplayName = "RGB"),
-    DEPTH UMETA(DisplayName = "Depth")
+    DEPTH UMETA(DisplayName = "Depth"),
+    SEGMENT UMETA(DisplayName = "Segment")
 };
 
 /**
@@ -115,6 +116,7 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSe
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     EROS2CameraType CameraType = EROS2CameraType::RGB;
 
+    // Allow to disable rendering (for performance, it still publishes still image)
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     bool Render = true;