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diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md
index 0c07ce600f625..bc44544fa298c 100644
--- a/perception/ground_segmentation/docs/scan-ground-filter.md
+++ b/perception/ground_segmentation/docs/scan-ground-filter.md
@@ -29,25 +29,26 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref
 
 #### Core Parameters
 
-| Name                              | Type   | Default Value | Description                                                                                                                                       |
-| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
-| `input_frame`                     | string | "base_link"   | frame id of input pointcloud                                                                                                                      |
-| `output_frame`                    | string | "base_link"   | frame id of output pointcloud                                                                                                                     |
-| `global_slope_max_angle_deg`      | double | 8.0           | The global angle to classify as the ground or object [deg]                                                                                        |
-| `local_slope_max_angle_deg`       | double | 10.0          | The local angle to classify as the ground or object [deg]                                                                                         |
-| `radial_divider_angle_deg`        | double | 1.0           | The angle which divide the whole pointcloud to sliced group [deg]                                                                                 |
-| `split_points_distance_tolerance` | double | 0.2           | The xy-distance threshold to to distinguishing far and near [m]                                                                                   |
-| `split_height_distance`           | double | 0.2           | The height threshold to distinguishing far and near [m]                                                                                           |
-| `use_virtual_ground_point`        | bool   | true          | whether to use the ground center of front wheels as the virtual ground point.                                                                     |
-| `detection_range_z_max`           | float  | 2.5           | Maximum height of detection range [m], applied only for elevation_grid_mode                                                                       |
-| `center_pcl_shift`                | float  | 0.0           | The x-axis offset of addition LiDARs from vehicle center of mass [m], <br /> recommended to use only for additional LiDARs in elevation_grid_mode |
-| `non_ground_height_threshold`     | float  | 0.2           | Height threshold of non ground objects [m], applied only for elevation_grid_mode                                                                  |
-| `grid_mode_switch_radius`         | float  | 20.0          | The distance where grid division mode change from by distance to by vertical angle [m],<br /> applied only for elevation_grid_mode                |
-| `grid_size_m`                     | float  | 0.5           | The first grid size [m], applied only for elevation_grid_mode                                                                                     |
-| `gnd_grid_buffer_size`            | uint16 | 4             | Number of grids using to estimate local ground slope,<br /> applied only for elevation_grid_mode                                                  |
-| `low_priority_region_x`           | float  | -20.0         | The non-zero x threshold in back side from which small objects detection is low priority [m]                                                      |
-| `elevation_grid_mode`             | bool   | true          | Elevation grid scan mode option                                                                                                                   |
-| `use_recheck_ground_cluster`      | bool   | true          | Enable recheck ground cluster                                                                                                                     |
+![scan_ground_parameter](./image/scan_ground_filter_parameters.drawio.svg)
+| Name | Type | Default Value | Description |
+| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `input_frame` | string | "base_link" | frame id of input pointcloud |
+| `output_frame` | string | "base_link" | frame id of output pointcloud |
+| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].<br/>A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. |
+| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.<br/>A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. |
+| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] |
+| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to distinguish far and near [m] |
+| `split_height_distance` | double | 0.2 | The height threshold to distinguish ground and non-ground pointcloud when comparing with adjacent points [m]. <br/>A small threshold improves classification of non-ground point, especially for high elevation resolution pointcloud lidar. However, it might cause false positive for small step-like road surface or misaligned multiple lidar configuration. |
+| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. |
+| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode |
+| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m], <br /> recommended to use only for additional LiDARs in elevation_grid_mode |
+| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m] as `split_height_distance` and applied only for elevation_grid_mode |
+| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],<br /> applied only for elevation_grid_mode |
+| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode.<br/>A large value enhances the prediction stability for ground surface. suitable for rough surface or multiple lidar configuration. |
+| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,<br /> applied only for elevation_grid_mode |
+| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] |
+| `elevation_grid_mode` | bool | true | Elevation grid scan mode option |
+| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster |
 
 ## Assumptions / Known limits