diff --git a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml
new file mode 100644
index 0000000000..5cf5619627
--- /dev/null
+++ b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_based_outlier_filter.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    radius_search_2d_filter.search_radius:  1.0f
+    radius_search_2d_filter.min_points_and_distance_ratio: 400.0f
+    radius_search_2d_filter.min_points: 4
+    radius_search_2d_filter.max_points: 70
+    radius_search_2d_filter.max_filter_points_nb: 15000
+    map_frame: "map"
+    base_link_frame: "base_link"
+    cost_threshold: 45
+    use_radius_search_2d_filter: true
+    enable_debugger: false