diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml
index 9ff8500f..2795ceea 100644
--- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml
+++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml
@@ -25,7 +25,12 @@
         split_points_distance_tolerance: 0.2
         use_virtual_ground_point: True
         split_height_distance: 0.2
-        radial_divider_angle_deg: 1.0
+        non_ground_height_threshold: 0.20
+        grid_size_m: 0.5
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 4
+        detection_range_z_max: 2.5
+        elevation_grid_mode: true
 
     # common_ground_filter:
     #   plugin: "ground_segmentation::RayGroundFilterComponent"
@@ -54,9 +59,9 @@
         min_points: 400
         min_inliers: 200
         max_iterations: 50
-        height_threshold: 0.15
+        height_threshold: 0.10
         plane_slope_threshold: 10.0
-        voxel_size_x: 0.2
-        voxel_size_y: 0.2
-        voxel_size_z: 0.2
+        voxel_size_x: 0.1
+        voxel_size_y: 0.1
+        voxel_size_z: 0.1
         debug: False