diff --git a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml b/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml
deleted file mode 100644
index 815e70e392..0000000000
--- a/perception_launch/config/object_recognition/detection/detection_preprocess.param.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-/**:
-  ros__parameters:
-    use_down_sample_filter: True
-    down_sample_voxel_size: 0.1
-    distance_threshold: 0.5
diff --git a/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml b/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
index a07a9416c2..815e70e392 100644
--- a/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
+++ b/perception_launch/config/object_recognition/detection/pointcloud_map_filter.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
-    use_down_sample_filter: False
+    use_down_sample_filter: True
     down_sample_voxel_size: 0.1
     distance_threshold: 0.5
diff --git a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 0031f3663b..b0731edd74 100644
--- a/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -39,11 +39,12 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
-  <!-- detection preprocess module -->
+  <!-- Pointcloud map filter -->
   <group>
     <push-ros-namespace namespace="obstacle_segmentation"/>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection_preprocess.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)" />
+      <arg name="output_topic" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
diff --git a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py b/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py
deleted file mode 100644
index 0ed9100a48..0000000000
--- a/perception_launch/launch/object_recognition/detection/detection_preprocess.launch.py
+++ /dev/null
@@ -1,136 +0,0 @@
-# Copyright 2020 Tier IV, Inc. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import launch
-from launch.actions import DeclareLaunchArgument
-from launch.actions import OpaqueFunction
-from launch.actions import SetLaunchConfiguration
-from launch.conditions import IfCondition
-from launch.conditions import UnlessCondition
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.descriptions import ComposableNode
-
-
-class DetectionPreProcessPipeline:
-    def __init__(self, context):
-        self.output_topic = (
-            "/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"
-        )
-
-    def create_common_pipeline(self, output_topic):
-        components = []
-        downsample_topic = "/perception/obstacle_segmentation/downsampled/pointcloud"
-        components.append(
-            ComposableNode(
-                package="pointcloud_preprocessor",
-                plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
-                name="voxel_grid_downsample_filter",
-                remappings=[
-                    ("input", LaunchConfiguration("input_topic")),
-                    ("output", downsample_topic),
-                ],
-                parameters=[
-                    {
-                        "voxel_size_x": 0.1,
-                        "voxel_size_y": 0.1,
-                        "voxel_size_z": 0.1,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
-                ],
-            )
-        )
-
-        components.append(
-            ComposableNode(
-                package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
-                name="voxel_based_compare_map_filter",
-                remappings=[
-                    ("input", downsample_topic),
-                    ("map", "/map/pointcloud_map"),
-                    ("output", output_topic),
-                ],
-                parameters=[
-                    {
-                        "distance_threshold": 0.5,
-                    }
-                ],
-                extra_arguments=[
-                    {"use_intra_process_comms": False},
-                ],
-            )
-        )
-        return components
-
-
-def launch_setup(context, *args, **kwargs):
-    pipeline = DetectionPreProcessPipeline(context)
-
-    components = []
-    components.extend(
-        pipeline.create_common_pipeline(
-            output_topic=pipeline.output_topic,
-        )
-    )
-
-    individual_container = ComposableNodeContainer(
-        name=LaunchConfiguration("container_name"),
-        namespace="",
-        package="rclcpp_components",
-        executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=components,
-        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
-        output="screen",
-    )
-    pointcloud_container_loader = LoadComposableNodes(
-        composable_node_descriptions=components,
-        target_container=LaunchConfiguration("container_name"),
-        condition=IfCondition(LaunchConfiguration("use_pointcloud_container")),
-    )
-    return [individual_container, pointcloud_container_loader]
-
-
-def generate_launch_description():
-
-    launch_arguments = []
-
-    def add_launch_arg(name: str, default_value=None):
-        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
-
-    add_launch_arg("input_topic", "")
-    add_launch_arg("use_multithread", "False")
-    add_launch_arg("use_intra_process", "True")
-    add_launch_arg("use_pointcloud_container", "False")
-    add_launch_arg("container_name", "detection_preprocess_pipeline_container")
-
-    set_container_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container",
-        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    set_container_mt_executable = SetLaunchConfiguration(
-        "container_executable",
-        "component_container_mt",
-        condition=IfCondition(LaunchConfiguration("use_multithread")),
-    )
-
-    return launch.LaunchDescription(
-        launch_arguments
-        + [set_container_executable, set_container_mt_executable]
-        + [OpaqueFunction(function=launch_setup)]
-    )
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index da55d0b355..2bb79fdb33 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -9,18 +9,18 @@
   <arg name="container_name" default=""/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-  <!-- detection preprocess module -->
+  <!-- Pointcloud map filter -->
   <group>
     <push-ros-namespace namespace="obstacle_segmentation"/>
-    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection_preprocess.launch.py" if="$(var use_pointcloud_map)">
+    <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
       <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)" />
+      <arg name="output_topic" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" />
       <arg name="use_intra_process" value="true" />
       <arg name="use_multithread" value="true" />
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
       <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
-
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>