diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
index bd5fc5f356..3b6db28cbd 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
@@ -19,3 +19,4 @@
     densification_params:
       world_frame_id: map
       num_past_frames: 1
+    max_voxel_size: 40000
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
index bd5fc5f356..3b6db28cbd 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
@@ -19,3 +19,4 @@
     densification_params:
       world_frame_id: map
       num_past_frames: 1
+    max_voxel_size: 40000
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
index bd5fc5f356..3b6db28cbd 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
@@ -19,3 +19,4 @@
     densification_params:
       world_frame_id: map
       num_past_frames: 1
+    max_voxel_size: 40000
diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
index 90a71a5bd1..e02e8adb6f 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
@@ -20,3 +20,4 @@
     omp_params:
       # omp params
       num_threads: 1
+    max_voxel_size: 40000