diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt
index 8eb7a15b5a885..527c565b91e05 100644
--- a/perception/shape_estimation/CMakeLists.txt
+++ b/perception/shape_estimation/CMakeLists.txt
@@ -66,3 +66,19 @@ ament_auto_package(INSTALL_TO_SHARE
   launch
   config
 )
+
+## Tests
+if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
+
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+  ament_add_ros_isolated_gtest(test_shape_estimation ${test_files})
+
+  target_link_libraries(test_shape_estimation
+  shape_estimation_node
+  )
+endif()
diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml
index 334b6cc2af123..137d925de6d54 100644
--- a/perception/shape_estimation/package.xml
+++ b/perception/shape_estimation/package.xml
@@ -12,7 +12,6 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_auto_perception_msgs</depend>
-  <depend>builtin_interfaces</depend>
   <depend>eigen</depend>
   <depend>libopencv-dev</depend>
   <depend>libpcl-all-dev</depend>
@@ -25,6 +24,7 @@
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
diff --git a/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp
new file mode 100644
index 0000000000000..d59cfd11b69df
--- /dev/null
+++ b/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp
@@ -0,0 +1,236 @@
+
+// Copyright 2024 TIER IV, inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "shape_estimation/corrector/corrector.hpp"
+#include "shape_estimation/filter/filter.hpp"
+#include "shape_estimation/model/model.hpp"
+#include "shape_estimation/shape_estimator.hpp"
+
+#include <gtest/gtest.h>
+#include <math.h>
+
+namespace
+{
+double yawFromQuaternion(const geometry_msgs::msg::Quaternion & q)
+{
+  return atan2(2.0 * (q.w * q.z + q.x * q.y), 1.0 - 2.0 * (q.y * q.y + q.z * q.z));
+}
+
+double deg2rad(const double deg)
+{
+  return deg / 180.0 * M_PI;
+}
+
+pcl::PointCloud<pcl::PointXYZ> createLShapeCluster(
+  const double length, const double width, const double height, const double yaw,
+  const double offset_x, const double offset_y)
+{
+  pcl::PointCloud<pcl::PointXYZ> cluster;
+  for (double x = -length / 2; x < length / 2; x += 0.4) {
+    cluster.push_back(pcl::PointXYZ(x, width / 2, 0.0));
+  }
+  for (double y = -width / 2; y < width / 2; y += 0.2) {
+    cluster.push_back(pcl::PointXYZ(-length / 2, y, 0.0));
+  }
+  cluster.push_back(pcl::PointXYZ(length / 2, -width / 2, 0.0));
+  cluster.push_back(pcl::PointXYZ(length / 2, width / 2, 0.0));
+  cluster.push_back(pcl::PointXYZ(-length / 2, -width / 2, 0.0));
+  cluster.push_back(pcl::PointXYZ(-length / 2, width / 2, 0.0));
+  cluster.push_back(pcl::PointXYZ(0.0, 0.0, height));
+
+  for (auto & point : cluster) {
+    const double x = point.x;
+    const double y = point.y;
+    // rotate
+    point.x = x * cos(yaw) - y * sin(yaw);
+    point.y = x * sin(yaw) + y * cos(yaw);
+    // offset
+    point.x += offset_x;
+    point.y += offset_y;
+  }
+
+  return cluster;
+}
+}  // namespace
+
+// test BoundingBoxShapeModel
+// 1. base case
+TEST(BoundingBoxShapeModel, test_estimateShape)
+{
+  // Generate BoundingBoxShapeModel
+  BoundingBoxShapeModel bbox_shape_model = BoundingBoxShapeModel();
+
+  // Generate cluster
+  const double length = 4.0;
+  const double width = 2.0;
+  const double height = 1.0;
+
+  pcl::PointCloud<pcl::PointXYZ> cluster =
+    createLShapeCluster(length, width, height, 0.0, 0.0, 0.0);
+
+  // Generate shape and pose output
+  autoware_auto_perception_msgs::msg::Shape shape_output;
+  geometry_msgs::msg::Pose pose_output;
+
+  // Test estimateShape
+  const bool result = bbox_shape_model.estimate(cluster, shape_output, pose_output);
+  EXPECT_TRUE(result);
+
+  // Check shape_output
+  EXPECT_EQ(shape_output.type, autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX);
+  EXPECT_NEAR(shape_output.dimensions.x, length, length * 0.1);
+  EXPECT_NEAR(shape_output.dimensions.y, width, width * 0.1);
+  EXPECT_NEAR(shape_output.dimensions.z, height, height * 0.1);
+
+  // Check pose_output
+  EXPECT_NEAR(pose_output.position.x, 0.0, 1e-2);
+  EXPECT_NEAR(pose_output.position.y, 0.0, 1e-2);
+  EXPECT_NEAR(pose_output.position.z, height / 2, 1e-2);
+
+  // transform quaternion to yaw
+  const double pose_output_yaw = yawFromQuaternion(pose_output.orientation);
+  EXPECT_NEAR(pose_output_yaw, 0, 1e-3);
+}
+
+// 2. rotated case
+TEST(BoundingBoxShapeModel, test_estimateShape_rotated)
+{
+  // Generate cluster
+  const double length = 4.0;
+  const double width = 2.0;
+  const double height = 1.0;
+  const double yaw = deg2rad(30.0);
+  const double offset_x = 10.0;
+  const double offset_y = 1.0;
+  pcl::PointCloud<pcl::PointXYZ> cluster =
+    createLShapeCluster(length, width, height, yaw, offset_x, offset_y);
+
+  const auto ref_yaw_info =
+    ReferenceYawInfo{static_cast<float>(yaw), static_cast<float>(deg2rad(10.0))};
+  const bool use_boost_bbox_optimizer = true;
+  // Generate BoundingBoxShapeModel
+  BoundingBoxShapeModel bbox_shape_model =
+    BoundingBoxShapeModel(ref_yaw_info, use_boost_bbox_optimizer);
+
+  // Generate shape and pose output
+  autoware_auto_perception_msgs::msg::Shape shape_output;
+  geometry_msgs::msg::Pose pose_output;
+
+  // Test estimateShape
+  const bool result = bbox_shape_model.estimate(cluster, shape_output, pose_output);
+  EXPECT_TRUE(result);
+
+  // Check shape_output
+  EXPECT_EQ(shape_output.type, autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX);
+  EXPECT_NEAR(shape_output.dimensions.x, length, length * 0.1);
+  EXPECT_NEAR(shape_output.dimensions.y, width, width * 0.1);
+  EXPECT_NEAR(shape_output.dimensions.z, height, height * 0.1);
+
+  // Check pose_output
+  EXPECT_NEAR(pose_output.position.x, offset_x, 1.0);
+  EXPECT_NEAR(pose_output.position.y, offset_y, 1.0);
+  EXPECT_NEAR(pose_output.position.z, height / 2, 1.0);
+
+  // transform quaternion to yaw
+  const double pose_output_yaw = yawFromQuaternion(pose_output.orientation);
+  EXPECT_NEAR(pose_output_yaw, yaw, deg2rad(15.0));
+}
+
+// test CylinderShapeModel
+TEST(CylinderShapeModel, test_estimateShape)
+{
+  // Generate CylinderShapeModel
+  CylinderShapeModel cylinder_shape_model = CylinderShapeModel();
+
+  // Generate cluster
+  pcl::PointCloud<pcl::PointXYZ> cluster = createLShapeCluster(4.0, 2.0, 1.0, 0.0, 0.0, 0.0);
+  // Generate shape and pose output
+  autoware_auto_perception_msgs::msg::Shape shape_output;
+  geometry_msgs::msg::Pose pose_output;
+
+  // Test estimateShape
+  const bool result = cylinder_shape_model.estimate(cluster, shape_output, pose_output);
+  EXPECT_TRUE(result);
+}
+
+// test ConvexHullShapeModel
+TEST(ConvexHullShapeModel, test_estimateShape)
+{
+  // Generate ConvexHullShapeModel
+  ConvexHullShapeModel convex_hull_shape_model = ConvexHullShapeModel();
+
+  // Generate cluster
+  pcl::PointCloud<pcl::PointXYZ> cluster = createLShapeCluster(2.0, 1.0, 1.0, 0.0, 0.0, 0.0);
+
+  // Generate shape and pose output
+  autoware_auto_perception_msgs::msg::Shape shape_output;
+  geometry_msgs::msg::Pose pose_output;
+
+  // Test estimateShape
+  const bool result = convex_hull_shape_model.estimate(cluster, shape_output, pose_output);
+  EXPECT_TRUE(result);
+}
+
+// test ShapeEstimator
+TEST(ShapeEstimator, test_estimateShapeAndPose)
+{
+  // Generate cluster
+  double length = 4.0;
+  double width = 2.0;
+  double height = 1.0;
+  const double yaw = deg2rad(60.0);
+  const double offset_x = 6.0;
+  const double offset_y = -2.0;
+  pcl::PointCloud<pcl::PointXYZ> cluster =
+    createLShapeCluster(length, width, height, yaw, offset_x, offset_y);
+
+  // Generate ShapeEstimator
+  const bool use_corrector = true;
+  const bool use_filter = true;
+  const bool use_boost_bbox_optimizer = true;
+  ShapeEstimator shape_estimator =
+    ShapeEstimator(use_corrector, use_filter, use_boost_bbox_optimizer);
+
+  // Generate ref_yaw_info
+  boost::optional<ReferenceYawInfo> ref_yaw_info = boost::none;
+  boost::optional<ReferenceShapeSizeInfo> ref_shape_size_info = boost::none;
+
+  ref_yaw_info = ReferenceYawInfo{static_cast<float>(yaw), static_cast<float>(deg2rad(10.0))};
+  const auto label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR;
+
+  // Generate shape and pose output
+  autoware_auto_perception_msgs::msg::Shape shape_output;
+  geometry_msgs::msg::Pose pose_output;
+
+  // Test estimateShapeAndPose
+  const bool result = shape_estimator.estimateShapeAndPose(
+    label, cluster, ref_yaw_info, ref_shape_size_info, shape_output, pose_output);
+  EXPECT_TRUE(result);
+
+  // Check shape_output
+  EXPECT_EQ(shape_output.type, autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX);
+  EXPECT_NEAR(shape_output.dimensions.x, length, length * 0.1);
+  EXPECT_NEAR(shape_output.dimensions.y, width, width * 0.1);
+  EXPECT_NEAR(shape_output.dimensions.z, height, height * 0.1);
+
+  // Check pose_output
+  EXPECT_NEAR(pose_output.position.x, offset_x, 1.0);
+  EXPECT_NEAR(pose_output.position.y, offset_y, 1.0);
+  EXPECT_NEAR(pose_output.position.z, height / 2, 1.0);
+
+  // transform quaternion to yaw
+  const double pose_output_yaw = yawFromQuaternion(pose_output.orientation);
+  EXPECT_NEAR(pose_output_yaw, yaw, deg2rad(15.0));
+}
diff --git a/perception/shape_estimation/test/test_shape_estimation.cpp b/perception/shape_estimation/test/test_shape_estimation.cpp
new file mode 100644
index 0000000000000..4c8ad7dd25916
--- /dev/null
+++ b/perception/shape_estimation/test/test_shape_estimation.cpp
@@ -0,0 +1,26 @@
+// Copyright 2024 TIER IV, inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}