diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
new file mode 100644
index 0000000000..99050d9738
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    filter_settings:
+      # polygon overlap based filter
+      polygon_overlap_filter:
+       enabled: true
+      # velocity direction based filter
+      lanelet_direction_filter:
+        enabled: false
+        velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
+        object_speed_threshold: 3.0 # [m/s]
diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml
new file mode 100644
index 0000000000..70afd9d31b
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml
@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    upper_bound_x: 100.0
+    lower_bound_x: 0.0
+    upper_bound_y: 10.0
+    lower_bound_y: -10.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
index e639288cbc..c0a437a125 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml
@@ -2,15 +2,15 @@
   ros__parameters:
     min_points_num:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [10,     10,  10,    10,         10,10,    10,         10]
+      [10,     10,  10,    10,     10,     10,      10,         10]
 
     max_points_num:
     #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [10,     10,  10,    10,         10,10,    10,         10]
+      [10,     10,  10,    10,     10,     10,      10,         10]
 
     min_points_and_distance_ratio:
-    #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
-      [800.0,     880.0,     800.0,    800.0,         800.0, 800.0,    800.0,         800.0]
+    #UNKNOWN,  CAR,    TRUCK,     BUS,    TRAILER, MOTORBIKE, BICYCLE,      PEDESTRIAN
+      [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
 
     using_2d_validator: true
     enable_debugger: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml
new file mode 100644
index 0000000000..bb996f1197
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    mean_threshold: 0.6
+    enable_debug: false