diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json
index 68dc977224ba5..4de422c7a719e 100644
--- a/perception/autoware_object_merger/schema/data_association_matrix.schema.json
+++ b/perception/autoware_object_merger/schema/data_association_matrix.schema.json
@@ -2,8 +2,8 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Data Association Matrix Parameters",
   "type": "object",
-  "properties": {
-    "ros__parameters": {
+  "definitions": {
+    "data_association_matrix": {
       "type": "object",
       "properties": {
         "can_assign_matrix": {
@@ -11,31 +11,52 @@
           "items": {
             "type": "number"
           },
-          "description": "Assignment table for data association"
+          "description": "Assignment table for data association.",
+          "default": []
         },
         "max_dist_matrix": {
           "type": "array",
           "items": {
             "type": "number"
           },
-          "description": "Maximum distance table for data association"
+          "description": "Maximum distance table for data association.",
+          "default": []
         },
         "max_rad_matrix": {
           "type": "array",
           "items": {
-            "type": "number"
+            "type": "number",
+            "minimum": 0.0
           },
-          "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
+          "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.",
+          "default": []
         },
         "min_iou_matrix": {
           "type": "array",
           "items": {
-            "type": "number"
+            "type": "number",
+            "minimum": 0.0
           },
-          "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
+          "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.",
+          "default": []
+        }
+      },
+      "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/data_association_matrix"
         }
       },
-      "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
-  }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
 }
diff --git a/perception/autoware_object_merger/schema/object_association_merger.schema.json b/perception/autoware_object_merger/schema/object_association_merger.schema.json
index 11090fab9c7b3..c31cb8866b8cc 100644
--- a/perception/autoware_object_merger/schema/object_association_merger.schema.json
+++ b/perception/autoware_object_merger/schema/object_association_merger.schema.json
@@ -45,7 +45,8 @@
         "remove_overlapped_unknown_objects",
         "base_link_frame_id",
         "priority_mode"
-      ]
+      ],
+      "additionalProperties": false
     }
   },
   "properties": {
@@ -56,8 +57,10 @@
           "$ref": "#/definitions/object_association_merger"
         }
       },
-      "required": ["ros__parameters"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
   },
-  "required": ["/**"]
+  "required": ["/**"],
+  "additionalProperties": false
 }
diff --git a/perception/autoware_object_merger/schema/overlapped_judge.schema.json b/perception/autoware_object_merger/schema/overlapped_judge.schema.json
index b65464c6201d1..b8ed9f313eb3a 100644
--- a/perception/autoware_object_merger/schema/overlapped_judge.schema.json
+++ b/perception/autoware_object_merger/schema/overlapped_judge.schema.json
@@ -2,8 +2,8 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Overlapped Judge Parameters",
   "type": "object",
-  "properties": {
-    "ros__parameters": {
+  "definitions": {
+    "overlapped_judge": {
       "type": "object",
       "properties": {
         "distance_threshold_list": {
@@ -11,17 +11,36 @@
           "items": {
             "type": "number"
           },
-          "description": "Distance threshold for each class used in judging overlap."
+          "description": "Distance threshold for each class used in judging overlap.",
+          "default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0]
         },
         "generalized_iou_threshold": {
           "type": "array",
           "items": {
-            "type": "number"
+            "type": "number",
+            "minimum": -1.0,
+            "maximum": 1.0
           },
-          "description": "Generalized IoU threshold for each class."
+          "description": "Generalized IoU threshold for each class.",
+          "default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1]
+        }
+      },
+      "required": ["distance_threshold_list", "generalized_iou_threshold"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/overlapped_judge"
         }
       },
-      "required": ["distance_threshold_list", "generalized_iou_threshold"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
-  }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
 }
diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/README.md b/perception/autoware_occupancy_grid_map_outlier_filter/README.md
index 7de2cc1dce92c..b920aa6908946 100644
--- a/perception/autoware_occupancy_grid_map_outlier_filter/README.md
+++ b/perception/autoware_occupancy_grid_map_outlier_filter/README.md
@@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g
 
 ## Parameters
 
-{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
+{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
index 14f4305f55de8..c73d4c6ad2585 100644
--- a/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
+++ b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json
@@ -2,104 +2,112 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Parameters for Synchronized Grid Map Fusion Node",
   "type": "object",
+  "definitions": {
+    "synchronized_grid_map_fusion": {
+      "type": "object",
+      "properties": {
+        "fusion_input_ogm_topics": {
+          "type": "array",
+          "description": "List of fusion input occupancy grid map topics.",
+          "items": {
+            "type": "string"
+          },
+          "default": ["topic1", "topic2"]
+        },
+        "input_ogm_reliabilities": {
+          "type": "array",
+          "description": "Reliability of each sensor for fusion.",
+          "items": {
+            "type": "number",
+            "minimum": 0.0,
+            "maximum": 1.0
+          },
+          "default": [0.8, 0.2]
+        },
+        "fusion_method": {
+          "type": "string",
+          "description": "Method for occupancy grid map fusion.",
+          "enum": ["overwrite", "log-odds", "dempster-shafer"],
+          "default": "overwrite"
+        },
+        "match_threshold_sec": {
+          "type": "number",
+          "description": "Time threshold for matching in seconds.",
+          "default": 0.01
+        },
+        "timeout_sec": {
+          "type": "number",
+          "description": "Timeout for synchronization in seconds.",
+          "default": 0.1
+        },
+        "input_offset_sec": {
+          "type": "array",
+          "description": "Offset for each input in seconds.",
+          "items": {
+            "type": "number"
+          },
+          "default": [0.0, 0.0]
+        },
+        "map_frame_": {
+          "type": "string",
+          "description": "The frame ID of the map.",
+          "default": "map"
+        },
+        "base_link_frame_": {
+          "type": "string",
+          "description": "The frame ID of the base link.",
+          "default": "base_link"
+        },
+        "grid_map_origin_frame_": {
+          "type": "string",
+          "description": "The frame ID of the grid map origin.",
+          "default": "base_link"
+        },
+        "fusion_map_length_x": {
+          "type": "number",
+          "description": "The length of the fusion map in the x direction.",
+          "default": 100.0
+        },
+        "fusion_map_length_y": {
+          "type": "number",
+          "description": "The length of the fusion map in the y direction.",
+          "default": 100.0
+        },
+        "fusion_map_resolution": {
+          "type": "number",
+          "description": "The resolution of the fusion map.",
+          "default": 0.5
+        }
+      },
+      "required": [
+        "fusion_input_ogm_topics",
+        "input_ogm_reliabilities",
+        "fusion_method",
+        "match_threshold_sec",
+        "timeout_sec",
+        "input_offset_sec",
+        "map_frame_",
+        "base_link_frame_",
+        "grid_map_origin_frame_",
+        "fusion_map_length_x",
+        "fusion_map_length_y",
+        "fusion_map_resolution"
+      ],
+      "additionalProperties": false
+    }
+  },
   "properties": {
     "/**": {
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "type": "object",
-          "properties": {
-            "fusion_input_ogm_topics": {
-              "type": "array",
-              "description": "List of fusion input occupancy grid map topics.",
-              "items": {
-                "type": "string"
-              },
-              "default": ["topic1", "topic2"]
-            },
-            "input_ogm_reliabilities": {
-              "type": "array",
-              "description": "Reliability of each sensor for fusion.",
-              "items": {
-                "type": "number",
-                "minimum": 0.0,
-                "maximum": 1.0
-              },
-              "default": [0.8, 0.2]
-            },
-            "fusion_method": {
-              "type": "string",
-              "description": "Method for occupancy grid map fusion.",
-              "enum": ["overwrite", "log-odds", "dempster-shafer"],
-              "default": "overwrite"
-            },
-            "match_threshold_sec": {
-              "type": "number",
-              "description": "Time threshold for matching in seconds.",
-              "default": 0.01
-            },
-            "timeout_sec": {
-              "type": "number",
-              "description": "Timeout for synchronization in seconds.",
-              "default": 0.1
-            },
-            "input_offset_sec": {
-              "type": "array",
-              "description": "Offset for each input in seconds.",
-              "items": {
-                "type": "number"
-              },
-              "default": [0.0, 0.0]
-            },
-            "map_frame_": {
-              "type": "string",
-              "description": "The frame ID of the map.",
-              "default": "map"
-            },
-            "base_link_frame_": {
-              "type": "string",
-              "description": "The frame ID of the base link.",
-              "default": "base_link"
-            },
-            "grid_map_origin_frame_": {
-              "type": "string",
-              "description": "The frame ID of the grid map origin.",
-              "default": "base_link"
-            },
-            "fusion_map_length_x": {
-              "type": "number",
-              "description": "The length of the fusion map in the x direction.",
-              "default": 100.0
-            },
-            "fusion_map_length_y": {
-              "type": "number",
-              "description": "The length of the fusion map in the y direction.",
-              "default": 100.0
-            },
-            "fusion_map_resolution": {
-              "type": "number",
-              "description": "The resolution of the fusion map.",
-              "default": 0.5
-            }
-          },
-          "required": [
-            "fusion_input_ogm_topics",
-            "input_ogm_reliabilities",
-            "fusion_method",
-            "match_threshold_sec",
-            "timeout_sec",
-            "input_offset_sec",
-            "map_frame_",
-            "base_link_frame_",
-            "grid_map_origin_frame_",
-            "fusion_map_length_x",
-            "fusion_map_length_y",
-            "fusion_map_resolution"
-          ]
+          "$ref": "#/definitions/synchronized_grid_map_fusion"
         }
       },
-      "required": ["ros__parameters"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
   },
-  "required": ["/**"]
+  "required": ["/**"],
+  "additionalProperties": false
 }