diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index f20db856a9..e6bfc56a62 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -46,7 +46,7 @@
         min_vehicle_brake_for_rss: -2.5 # [m/s^2]
         max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
         denoise_kernel: 1.0 # [m]
-        pub_debug_grid: false
+        possible_object_bbox: [1.0, 2.0] # [m x m]
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 2e17e514ba..0dad17aaf9 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1692,32 +1692,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection
                           Value: false
-                        - Alpha: 0.5
-                          Autocompute Intensity Bounds: true
-                          Class: grid_map_rviz_plugin/GridMap
-                          Color: 200; 200; 200
-                          Color Layer: color
-                          Color Transformer: IntensityLayer
-                          Enabled: false
-                          Height Layer: elevation
-                          Height Transformer: Layer
-                          History Length: 1
-                          Invert Rainbow: false
-                          Max Color: 255; 255; 255
-                          Max Intensity: 10
-                          Min Color: 0; 0; 0
-                          Min Intensity: 0
-                          Name: IntersectionOcclusion
-                          Show Grid Lines: false
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            Filter size: 10
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid
-                          Use Rainbow: true
-                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: Blind Spot