diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
index f4a5d59c3c..3f120371fd 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
@@ -18,3 +18,4 @@
     densification_params:
       world_frame_id: map
       num_past_frames: 1
+    max_voxel_size: 40000
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
index f4a5d59c3c..3f120371fd 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
@@ -18,3 +18,4 @@
     densification_params:
       world_frame_id: map
       num_past_frames: 1
+    max_voxel_size: 40000
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
index f4a5d59c3c..3f120371fd 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
@@ -18,3 +18,4 @@
     densification_params:
       world_frame_id: map
       num_past_frames: 1
+    max_voxel_size: 40000
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
index 89841193d5..0e5342c995 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
@@ -19,3 +19,4 @@
     omp_params:
       # omp params
       num_threads: 1
+    max_voxel_size: 40000