diff --git a/launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml b/launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml
new file mode 100644
index 0000000000000..dfdee95642fed
--- /dev/null
+++ b/launch/tier4_perception_launch/config/object_recognition/detection/object_lanelet_filter.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
diff --git a/launch/tier4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml b/launch/tier4_perception_launch/config/object_recognition/detection/object_position_filter.param.yaml
new file mode 100644
index 0000000000000..70afd9d31be94
--- /dev/null
+++ b/launch/tier4_perception_launch/config/object_recognition/detection/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/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index a47ff58b7614e..e780d79d96e3d 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -193,6 +193,7 @@
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 423fa5be0728a..942cb436dc697 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -111,6 +111,7 @@
     <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
       <arg name="input/object" value="objects_before_filter"/>
       <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="filtering_range_param" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml"/>
     </include>
   </group>
 </launch>