diff --git a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
index 745a0fd6591a9..f7a27a52bfa8a 100644
--- a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
+++ b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml
@@ -11,3 +11,5 @@
     min_points_and_distance_ratio:
     #UNKNOWN,  CAR,    TRUCK,     BUS,    TRAILER, MOTORBIKE, BICYCLE,      PEDESTRIAN
       [800.0,  800.0,  800.0,    800.0,   800.0,      800.0,    800.0,         800.0]
+
+    using_2d_validator: false
diff --git a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
index d661e7db33735..799b605658345 100644
--- a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
@@ -11,6 +11,5 @@
     <remap from="~/output/objects" to="$(var output/objects)"/>
     <param name="enable_debugger" value="false"/>
     <param from="$(var obstacle_pointcloud_based_validator_param_path)"/>
-    <param name="using_2d_validator" value="true"/>
   </node>
 </launch>
diff --git a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md
index dd67aab3db0c9..36b3815e7e689 100644
--- a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md
+++ b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md
@@ -28,6 +28,7 @@ In the debug image above, the red DetectedObject is the validated object. The bl
 
 | Name                            | Type  | Description                                                                                                                                                                |
 | ------------------------------- | ----- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `using_2d_validator`            | bool  | The xy-plane projected (2D) obstacle point clouds will be used for validation                                                                                              |
 | `min_points_num`                | int   | The minimum number of obstacle point clouds in DetectedObjects                                                                                                             |
 | `max_points_num`                | int   | The max number of obstacle point clouds in DetectedObjects                                                                                                                 |
 | `min_points_and_distance_ratio` | float | Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. |