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
deleted file mode 100644
index 3dd303464a..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/compare_map.param.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-/**:
-  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/outlier.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
deleted file mode 100644
index 1962fba1f3..0000000000
--- a/autoware_launch/config/perception/object_recognition/detection/clustering/outlier.param.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  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/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 65b8ac20bd..580b8b81a4 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,16 +21,11 @@
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
 
     <!-- object recognition -->
-    <arg name="object_recognition_detection_compare_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/compare_map.param.yaml"/>
     <arg
       name="object_recognition_detection_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
     />
     <arg name="object_recognition_detection_outlier_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/outlier.param.yaml"/>
-    <arg
-      name="object_recognition_detection_voxel_grid_based_euclidean_param_path"
-      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid.param.yaml"
-    />
     <arg
       name="object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml"