diff --git a/code/agent/config/rviz_config.rviz b/code/agent/config/rviz_config.rviz
index 2a972ba7..db94b03e 100644
--- a/code/agent/config/rviz_config.rviz
+++ b/code/agent/config/rviz_config.rviz
@@ -5,6 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /PointCloud23
+        - /PointCloud24
+        - /PointCloud25
       Splitter Ratio: 0.5
     Tree Height: 308
   - Class: rviz/Selection
@@ -70,13 +72,13 @@ Visualization Manager:
     - Alpha: 1
       Class: rviz_plugin_tutorials/Imu
       Color: 204; 51; 204
-      Enabled: true
+      Enabled: false
       History Length: 1
       Name: Imu
       Queue Size: 10
       Topic: /carla/hero/IMU
       Unreliable: false
-      Value: true
+      Value: false
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -89,7 +91,7 @@ Visualization Manager:
       Color: 255; 255; 255
       Color Transformer: Intensity
       Decay Time: 0
-      Enabled: false
+      Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
@@ -104,7 +106,7 @@ Visualization Manager:
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
-      Value: false
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -185,6 +187,62 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.20000000298023224
+      Style: Flat Squares
+      Topic: /carla/hero/LIDAR_filtered_rear_left
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.20000000298023224
+      Style: Flat Squares
+      Topic: /carla/hero/LIDAR_filtered_rear_right
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -213,7 +271,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.234607219696045
+      Distance: 18.93408966064453
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -229,9 +287,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.1753983497619629
+      Pitch: 0.5053982734680176
       Target Frame: <Fixed Frame>
-      Yaw: 4.805431365966797
+      Yaw: 2.630427598953247
     Saved: ~
 Window Geometry:
   Camera:
diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch
index 149910ac..89976f9c 100644
--- a/code/perception/launch/perception.launch
+++ b/code/perception/launch/perception.launch
@@ -30,10 +30,30 @@
   <node pkg="perception" type="lidar_distance.py" name="lidar_distance" output="screen">
     <param name="max_y" value="1.5"/>
     <param name="min_y" value="-1.5"/>
-    <param name="min_x" value="2.5"/>
+    <param name="min_x" value="3"/>
     <param name="min_z" value="-1.5"/>
     <param name="max_z" value="0"/>
     <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered"/>
     <param name="range_topic" value="/carla/hero/LIDAR_range"/>
   </node>
+
+  <node pkg="perception" type="lidar_distance.py" name="lidar_distance_rear_right" output="screen">
+    <param name="min_y" value="-5"/>
+    <param name="max_y" value="-1.5"/>
+    <param name="max_x" value="0"/>
+    <param name="min_z" value="-1.5"/>
+    <param name="max_z" value="0"/>
+    <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered_rear_right"/>
+    <param name="range_topic" value="/carla/hero/LIDAR_range_rear_right"/>
+  </node>
+
+  <node pkg="perception" type="lidar_distance.py" name="lidar_distance_rear_left" output="screen">
+    <param name="min_y" value="1.5"/>
+    <param name="max_y" value="5"/>
+    <param name="max_x" value="0"/>
+    <param name="min_z" value="-1.5"/>
+    <param name="max_z" value="0"/>
+    <param name="point_cloud_topic" value="/carla/hero/LIDAR_filtered_rear_left"/>
+    <param name="range_topic" value="/carla/hero/LIDAR_range_rear_left"/>
+  </node>
 </launch>
diff --git a/code/perception/src/lidar_distance.py b/code/perception/src/lidar_distance.py
index f657445e..5bd5e302 100755
--- a/code/perception/src/lidar_distance.py
+++ b/code/perception/src/lidar_distance.py
@@ -5,6 +5,7 @@
 import lidar_filter_utility
 from sensor_msgs.msg import PointCloud2, Range
 
+
 class LidarDistance():
     """ See doc/06_perception/02_lidar_distance_utility.md on
         how to configute this node
@@ -27,11 +28,11 @@ def callback(self, data):
         bit_mask = lidar_filter_utility.bounding_box(
             coordinates,
             max_x=rospy.get_param('~max_x', np.inf),
-            min_x=rospy.get_param('~min_x', np.inf),
+            min_x=rospy.get_param('~min_x', -np.inf),
             max_y=rospy.get_param('~max_y', np.inf),
-            min_y=rospy.get_param('~min_y', np.inf),
+            min_y=rospy.get_param('~min_y', -np.inf),
             max_z=rospy.get_param('~max_z', np.inf),
-            min_z=rospy.get_param('~min_z', np.inf),
+            min_z=rospy.get_param('~min_z', -np.inf),
         )
 
         # Filter coordinates based in generated bit_mask
@@ -82,7 +83,8 @@ def listener(self):
             Range
         )
 
-        rospy.Subscriber(rospy.get_param('~source_topic', "/carla/hero/LIDAR"), PointCloud2, self.callback)
+        rospy.Subscriber(rospy.get_param('~source_topic', "/carla/hero/LIDAR"),
+                         PointCloud2, self.callback)
 
         # spin() simply keeps python from exiting until this node is stopped
         rospy.spin()