diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
index 09cee5266760c..e39eda1f41506 100644
--- a/perception/lidar_centerpoint/README.md
+++ b/perception/lidar_centerpoint/README.md
@@ -27,6 +27,9 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 | `debug/processing_time_ms` | `tier4_debug_msgs::msg::Float64Stamped`               | processing time (ms) |
 
 ## Parameters
+{{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json") }}
+{{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json") }}
+{{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint.schema.json") }}
 
 ### Core Parameters