diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
new file mode 100644
index 0000000000..3dd303464a
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
@@ -0,0 +1,20 @@
+/**:
+ ros__parameters:
+
+ # distance threshold for compare compare
+ distance_threshold: 0.5
+
+ # publish voxelized map pointcloud for debug
+ publish_debug_pcd: False
+
+ # use dynamic map loading
+ use_dynamic_map_loading: True
+
+ # time interval to check dynamic map loading
+ timer_interval_ms: 100
+
+ # distance threshold for dynamic map update
+ map_update_distance_threshold: 10.0
+
+ # radius map for dynamic map loading
+ map_loader_radius: 150.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
new file mode 100644
index 0000000000..1411f766b4
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml
@@ -0,0 +1,6 @@
+/**:
+ ros__parameters:
+ max_cluster_size: 1000
+ min_cluster_size: 10
+ tolerance: 0.7
+ use_height: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
new file mode 100644
index 0000000000..1962fba1f3
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
@@ -0,0 +1,8 @@
+/**:
+ ros__parameters:
+ input_frame: base_link
+ output_frame: base_link
+ voxel_size_x: 0.3
+ voxel_size_y: 0.3
+ voxel_size_z: 100.0
+ voxel_points_threshold: 3
diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
new file mode 100644
index 0000000000..3ff32bfbb7
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml
@@ -0,0 +1,7 @@
+/**:
+ ros__parameters:
+ input_frame: base_link
+ output_frame: base_link
+ voxel_size_x: 0.15
+ voxel_size_y: 0.15
+ voxel_size_z: 0.15
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
new file mode 100644
index 0000000000..2f3de2b789
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml
@@ -0,0 +1,15 @@
+/**:
+ ros__parameters:
+ tolerance: 0.7
+ voxel_leaf_size: 0.3
+ min_points_number_per_voxel: 1
+ min_cluster_size: 10
+ max_cluster_size: 3000
+ use_height: false
+ input_frame: "base_link"
+ max_x: 70.0
+ min_x: -70.0
+ max_y: 70.0
+ min_y: -70.0
+ max_z: 4.5
+ min_z: -4.5
diff --git a/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/object_filter/object_position_filter.param.yaml
diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
similarity index 100%
rename from autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml
rename to autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 5de556ac6f..84c3c1519d 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -9,24 +9,46 @@
+
+
+
+
+
+
+
+
+
-
+
+
-
+
+
-