diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
index 9dcc722587..955f37ee22 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml
@@ -16,3 +16,6 @@
     map_length: 150.0
     map_width: 150.0
     map_resolution: 0.5
+
+    updater_type: "binary_bayes_filter"
+    updater_param_file: $(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
index 8077bdec50..eed9fb76f5 100644
--- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
+++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml
@@ -21,6 +21,9 @@
     # base_link should not be used with "OccupancyGridMapProjectiveBlindSpot"
     scan_origin_frame: "base_link"
 
+    updater_type: "binary_bayes_filter"
+    updater_param_file: $(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/binary_bayes_filter_updater.param.yaml
+
     grid_map_type: "OccupancyGridMapFixedBlindSpot"
     OccupancyGridMapFixedBlindSpot:
       distance_margin: 1.0
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index a84911a414..02dca941ad 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
-  <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
   <arg
     name="detected_objects_validation_method"
@@ -16,7 +15,6 @@
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
-    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
     <arg name="data_path" value="$(var data_path)"/>
@@ -153,7 +151,6 @@
 
     <!-- occupancy grid map -->
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
-    <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
 
     <!-- traffic light recognition -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index a8503818cd..0eb60904b0 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -11,7 +11,6 @@
   <arg name="vehicle_model"/>
   <arg name="initial_engage_state"/>
   <arg name="vehicle_info_param_file"/>
-  <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
 
   <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
@@ -45,8 +44,6 @@
     />
     <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
-    <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
-    <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
 
     <arg