diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
index 21ba13787f..0e4c52ba92 100644
--- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
@@ -3,3 +3,9 @@
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0