diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 67f8ace3a4bb1..6134dc818784b 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -129,7 +129,7 @@ perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index fd38b7bfd6ab3..661e242593097 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -331,7 +331,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
         components = []
         components.append(
             ComposableNode(
-                package="occupancy_grid_map_outlier_filter",
+                package="autoware_occupancy_grid_map_outlier_filter",
                 plugin="autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
                 name="occupancy_grid_based_outlier_filter",
                 remappings=[
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 8f39d53ae61cc..fcd6bd501e536 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -19,6 +19,7 @@
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>autoware_object_range_splitter</exec_depend>
   <exec_depend>autoware_object_velocity_splitter</exec_depend>
+  <exec_depend>autoware_occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>autoware_probabilistic_occupancy_grid_map</exec_depend>
   <exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
   <exec_depend>autoware_radar_fusion_to_detected_object</exec_depend>
@@ -36,7 +37,6 @@
   <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>multi_object_tracker</exec_depend>
   <exec_depend>object_merger</exec_depend>
-  <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
   <exec_depend>shape_estimation</exec_depend>
diff --git a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
index 9754cea458577..0fc73d43e54c9 100644
--- a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
+++ b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(occupancy_grid_map_outlier_filter)
+project(autoware_occupancy_grid_map_outlier_filter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -41,6 +41,6 @@ endif()
 # -- Occupancy Grid Map Outlier Filter --
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent"
-  EXECUTABLE occupancy_grid_map_outlier_filter_node)
+  EXECUTABLE ${PROJECT_NAME}_node)
 
 ament_auto_package(INSTALL_TO_SHARE)
diff --git a/perception/occupancy_grid_map_outlier_filter/README.md b/perception/occupancy_grid_map_outlier_filter/README.md
index fd064af19902f..28974edf65053 100644
--- a/perception/occupancy_grid_map_outlier_filter/README.md
+++ b/perception/occupancy_grid_map_outlier_filter/README.md
@@ -1,4 +1,4 @@
-# occupancy_grid_map_outlier_filter
+# autoware_occupancy_grid_map_outlier_filter
 
 ## Purpose
 
diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml
index e92e5edb4b084..4d30fe20067c9 100644
--- a/perception/occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/occupancy_grid_map_outlier_filter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>occupancy_grid_map_outlier_filter</name>
+  <name>autoware_occupancy_grid_map_outlier_filter</name>
   <version>0.1.0</version>
   <description>The ROS 2 occupancy_grid_map_outlier_filter package</description>
   <maintainer email="abrahammonrroy@yahoo.com">amc-nu</maintainer>