diff --git a/perception/detected_object_validation/CMakeLists.txt b/perception/detected_object_validation/CMakeLists.txt
index d023c6c9df328..c416209d7d55d 100644
--- a/perception/detected_object_validation/CMakeLists.txt
+++ b/perception/detected_object_validation/CMakeLists.txt
@@ -88,6 +88,7 @@ rclcpp_components_register_node(occupancy_grid_based_validator
 if(BUILD_TESTING)
   ament_auto_add_gtest(detection_object_validation_tests
     test/test_utils.cpp
+    test/object_position_filter/test_object_position_filter.cpp
   )
 endif()
 
diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml
index 7abfbe6625f01..70ba904024758 100644
--- a/perception/detected_object_validation/package.xml
+++ b/perception/detected_object_validation/package.xml
@@ -19,6 +19,7 @@
 
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
diff --git a/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp b/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp
new file mode 100644
index 0000000000000..03cebf91418ce
--- /dev/null
+++ b/perception/detected_object_validation/test/object_position_filter/test_object_position_filter.cpp
@@ -0,0 +1,126 @@
+// 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 "detected_object_validation/detected_object_filter/object_position_filter.hpp"
+
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+
+#include <gtest/gtest.h>
+
+#include <vector>
+
+using autoware_perception_msgs::msg::DetectedObject;
+using autoware_perception_msgs::msg::DetectedObjects;
+using autoware_perception_msgs::msg::ObjectClassification;
+using object_position_filter::ObjectPositionFilterNode;
+
+std::shared_ptr<autoware::test_utils::AutowareTestManager> generateTestManager()
+{
+  auto test_manager = std::make_shared<autoware::test_utils::AutowareTestManager>();
+  return test_manager;
+}
+
+std::shared_ptr<ObjectPositionFilterNode> generateNode()
+{
+  auto node_options = rclcpp::NodeOptions{};
+  const auto detected_object_validation_dir =
+    ament_index_cpp::get_package_share_directory("detected_object_validation");
+  node_options.arguments(
+    {"--ros-args", "--params-file",
+     detected_object_validation_dir + "/config/object_position_filter.param.yaml"});
+  return std::make_shared<ObjectPositionFilterNode>(node_options);
+}
+
+TEST(DetectedObjectValidationTest, testObjectPositionFilterEmptyObject)
+{
+  rclcpp::init(0, nullptr);
+  const std::string input_topic = "/input/object";
+  const std::string output_topic = "/output/object";
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+
+  int counter = 0;
+  auto callback = [&counter](const DetectedObjects::ConstSharedPtr msg) {
+    (void)msg;
+    ++counter;
+  };
+  test_manager->set_subscriber<DetectedObjects>(output_topic, callback);
+
+  DetectedObjects msg;
+  test_manager->test_pub_msg<DetectedObjects>(test_target_node, input_topic, msg);
+  EXPECT_GE(counter, 1);
+  rclcpp::shutdown();
+}
+
+TEST(DetectedObjectValidationTest, testObjectPositionFilterSeveralObjects)
+{
+  rclcpp::init(0, nullptr);
+  const std::string input_topic = "/input/object";
+  const std::string output_topic = "/output/object";
+  auto test_manager = generateTestManager();
+  auto test_target_node = generateNode();
+
+  // Create a DetectedObjects message with several objects
+  DetectedObjects msg;
+  msg.header.frame_id = "base_link";
+
+  // Object 1: Inside bounds
+  {
+    DetectedObject object;
+    object.kinematics.pose_with_covariance.pose.position.x = 10.0;
+    object.kinematics.pose_with_covariance.pose.position.y = 5.0;
+    object.classification.resize(1);
+    object.classification[0].label = ObjectClassification::UNKNOWN;
+    msg.objects.push_back(object);
+  }
+
+  // Object 2: Outside bounds (x-axis)
+  {
+    DetectedObject object;
+    object.kinematics.pose_with_covariance.pose.position.x = 110.0;
+    object.kinematics.pose_with_covariance.pose.position.y = 5.0;
+    object.classification.resize(1);
+    object.classification[0].label = ObjectClassification::UNKNOWN;
+    msg.objects.push_back(object);
+  }
+
+  // Object 3: Outside bounds (y-axis)
+  {
+    DetectedObject object;
+    object.kinematics.pose_with_covariance.pose.position.x = 10.0;
+    object.kinematics.pose_with_covariance.pose.position.y = 60.0;
+    object.classification.resize(1);
+    object.classification[0].label = ObjectClassification::UNKNOWN;
+    msg.objects.push_back(object);
+  }
+
+  // Object 4: Inside bounds
+  {
+    DetectedObject object;
+    object.kinematics.pose_with_covariance.pose.position.x = 20.0;
+    object.kinematics.pose_with_covariance.pose.position.y = -5.0;
+    object.classification.resize(1);
+    object.classification[0].label = ObjectClassification::UNKNOWN;
+    msg.objects.push_back(object);
+  }
+
+  DetectedObjects latest_msg;
+  auto callback = [&latest_msg](const DetectedObjects::ConstSharedPtr msg) { latest_msg = *msg; };
+  test_manager->set_subscriber<DetectedObjects>(output_topic, callback);
+
+  test_manager->test_pub_msg<DetectedObjects>(test_target_node, input_topic, msg);
+  EXPECT_EQ(latest_msg.objects.size(), 2);
+  rclcpp::shutdown();
+}