diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md
index 3063e13c10226..7006becf00c2f 100644
--- a/localization/pose_initializer/README.md
+++ b/localization/pose_initializer/README.md
@@ -13,15 +13,6 @@ This node depends on the map height fitter library.
 
 ### Parameters
 
-| Name                  | Type | Description                                                                              |
-| --------------------- | ---- | ---------------------------------------------------------------------------------------- |
-| `ekf_enabled`         | bool | If true, EKF localizer is activated.                                                     |
-| `ndt_enabled`         | bool | If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through. |
-| `stop_check_enabled`  | bool | If true, initialization is accepted only when the vehicle is stopped.                    |
-| `stop_check_duration` | bool | The duration used for the stop check above.                                              |
-| `gnss_enabled`        | bool | If true, use the GNSS pose when no pose is specified.                                    |
-| `gnss_pose_timeout`   | bool | The duration that the GNSS pose is valid.                                                |
-
 {{ json_to_markdown("localization/pose_initializer/schema/pose_initializer.schema.json") }}
 
 ### Services
diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/pose_initializer/schema/pose_initializer.schema.json
index 14a286f059030..ced4dc78b93b1 100644
--- a/localization/pose_initializer/schema/pose_initializer.schema.json
+++ b/localization/pose_initializer/schema/pose_initializer.schema.json
@@ -46,12 +46,12 @@
         "gnss_particle_covariance": {
           "type": "array",
           "description": "gnss particle covariance",
-          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n  0.0, 1.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]"
+          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]"
         },
         "output_pose_covariance": {
           "type": "array",
           "description": "output pose covariance",
-          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0,\n 0.0, 1.0, 0.0,  0.0,  0.0,  0.0,\n 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,\n 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
+          "default": "[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0,  0.0,  0.0,  0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2]"
         }
       },
       "required": [