diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
index 26b027f007..b99612ab8f 100644
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -3,7 +3,7 @@
     tolerance: 0.7
     voxel_leaf_size: 0.3
     min_points_number_per_voxel: 1
-    min_cluster_size: 10
+    min_cluster_size: 3
     max_cluster_size: 3000
     use_height: false
     input_frame: "base_link"
diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
index 62b3074c15..5b9ad199fa 100644
--- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
@@ -2,13 +2,13 @@
   ros__parameters:
 
     # voxel size for downsample filter
-    down_sample_voxel_size: 0.1
+    down_sample_voxel_size: 0.05
 
     # distance threshold for compare compare
     distance_threshold: 0.5
 
     # ratio to reduce voxel_leaf_size and neighbor points distance threshold in z axis
-    downsize_ratio_z_axis: 0.6
+    downsize_ratio_z_axis: 0.3
 
     # publish voxelized map pointcloud for debug
     publish_debug_pcd: False
diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
index 13f2220655..9743a9ce59 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -56,7 +56,7 @@
 
     min_iou_matrix: # If value is negative, it will be ignored.
       #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
-      [0.0001,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
+      [0.0,  0.1,   0.1,   0.1,    0.1,       0.1,       0.1,     0.1,       #UNKNOWN
           0.1,  0.1,   0.2,   0.2,    0.2,       0.1,       0.1,     0.1,       #CAR
           0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #TRUCK
           0.1,  0.2,   0.3,   0.3,    0.3,       0.1,       0.1,     0.1,       #BUS
diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index 53c20b5813..37edca19e0 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    additional_lidars: []
+    additional_lidars: ["front_lower"]
     ransac_input_topics: []
     use_single_frame_filter: False
     use_time_series_filter: True
@@ -20,10 +20,10 @@
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 25.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.2
+        split_points_distance_tolerance: 0.15
         use_virtual_ground_point: True
         split_height_distance: 0.2
-        non_ground_height_threshold: 0.20
+        non_ground_height_threshold: 0.12
         grid_size_m: 0.2
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 5
@@ -54,7 +54,7 @@
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
         split_points_distance_tolerance: 0.20  # recommended 0.045 for non elevation_grid_mode
-        split_height_distance: 0.2 # recommended 0.15 for non elevation_grid_mode
+        split_height_distance: 0.15 # recommended 0.15 for non elevation_grid_mode
         use_virtual_ground_point: False
         non_ground_height_threshold: 0.1
         grid_size_m: 0.1
@@ -79,14 +79,14 @@
       parameters:
         global_slope_max_angle_deg: 10.0
         local_slope_max_angle_deg: 18.0 # recommended 30.0 for non elevation_grid_mode
-        split_points_distance_tolerance: 0.20 # recommended 0.1 for non elevation_grid_mode
-        split_height_distance: 0.2      # recommended 0.05 for non elevation_grid_mode
-        use_virtual_ground_point: False
+        split_points_distance_tolerance: 0.10 # recommended 0.1 for non elevation_grid_mode
+        split_height_distance: 0.05      # recommended 0.05 for non elevation_grid_mode
+        use_virtual_ground_point: true
         non_ground_height_threshold: 0.1
         grid_size_m: 0.1
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 3.2
         center_pcl_shift: 0.0
-        elevation_grid_mode: true
+        elevation_grid_mode: false
         use_recheck_ground_cluster: false