diff --git a/perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md b/perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md
index e92e645f7a3e8..4e274ccb0dab8 100644
--- a/perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md
+++ b/perception/autoware_raindrop_cluster_filter/raindrop_cluster_filter.md
@@ -24,24 +24,7 @@ Mainly this focuses on filtering out unknown objects with very low intensity poi
 
 ## Parameters
 
-### Core Parameters
-
-| Name                              | Type  | Default Value | Description                                             |
-| --------------------------------- | ----- | ------------- | ------------------------------------------------------- |
-| `filter_target_label.UNKNOWN`     | bool  | false         | If true, unknown objects are filtered.                  |
-| `filter_target_label.CAR`         | bool  | false         | If true, car objects are filtered.                      |
-| `filter_target_label.TRUCK`       | bool  | false         | If true, truck objects are filtered.                    |
-| `filter_target_label.BUS`         | bool  | false         | If true, bus objects are filtered.                      |
-| `filter_target_label.TRAILER`     | bool  | false         | If true, trailer objects are filtered.                  |
-| `filter_target_label.MOTORCYCLE`  | bool  | false         | If true, motorcycle objects are filtered.               |
-| `filter_target_label.BICYCLE`     | bool  | false         | If true, bicycle objects are filtered.                  |
-| `filter_target_label.PEDESTRIAN`  | bool  | false         | If true, pedestrian objects are filtered.               |
-| `max_x`                           | float | 60.00         | Maximum of x of the filter effective range              |
-| `min_x`                           | float | -20.00        | Minimum of x of the filter effective range              |
-| `max_y`                           | float | 20.00         | Maximum of y of the filter effective range              |
-| `min_y`                           | float | -20.00        | Minium of y of the filter effective range               |
-| `intensity_threshold`             | float | 1.0           | The threshold of average intensity for filter           |
-| `existence_probability_threshold` | float | 0.2           | The existence probability threshold to apply the filter |
+{{ json_to_markdown("perception/autoware_raindrop_cluster_filter>/schema/low_intensity_cluster_filter.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/perception/autoware_raindrop_cluster_filter/schema/low_intensity_cluster_filter.schema.json b/perception/autoware_raindrop_cluster_filter/schema/low_intensity_cluster_filter.schema.json
new file mode 100644
index 0000000000000..0f844d6ff88b4
--- /dev/null
+++ b/perception/autoware_raindrop_cluster_filter/schema/low_intensity_cluster_filter.schema.json
@@ -0,0 +1,122 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "low_intensity_cluster_filter parameters",
+  "type": "object",
+  "definitions": {
+    "low_intensity_cluster_filter": {
+      "type": "object",
+      "properties": {
+        "intensity_threshold": {
+          "type": "number",
+          "description": "The threshold of average intensity for filter.",
+          "default": 1.0
+        },
+        "existence_probability_threshold": {
+          "type": "number",
+          "description": "The existence probability threshold to apply the filter.",
+          "default": 0.2
+        },
+        "max_x": {
+          "type": "number",
+          "description": "Maximum of x of the filter effective range.",
+          "default": 60.0
+        },
+        "min_x": {
+          "type": "number",
+          "description": "Minimum of x of the filter effective range.",
+          "default": -20.0
+        },
+        "max_y": {
+          "type": "number",
+          "description": "Maximum of y of the filter effective range.",
+          "default": 20.0
+        },
+        "min_y": {
+          "type": "number",
+          "description": "Minimum of y of the filter effective range.",
+          "default": -20.0
+        },
+        "filter_target_label": {
+          "type": "object",
+          "properties": {
+            "UNKNOWN": {
+              "type": "boolean",
+              "description": "If true, unknown objects are filtered.",
+              "default": true
+            },
+            "CAR": {
+              "type": "boolean",
+              "description": "If true, car objects are filtered.",
+              "default": false
+            },
+            "TRUCK": {
+              "type": "boolean",
+              "description": "If true, truck objects are filtered.",
+              "default": false
+            },
+            "BUS": {
+              "type": "boolean",
+              "description": "If true, bus objects are filtered.",
+              "default": false
+            },
+            "TRAILER": {
+              "type": "boolean",
+              "description": "If true, trailer objects are filtered.",
+              "default": false
+            },
+            "MOTORCYCLE": {
+              "type": "boolean",
+              "description": "If true, motorcycle objects are filtered.",
+              "default": false
+            },
+            "BICYCLE": {
+              "type": "boolean",
+              "description": "If true, bicycle objects are filtered.",
+              "default": false
+            },
+            "PEDESTRIAN": {
+              "type": "boolean",
+              "description": "If true, pedestrian objects are filtered.",
+              "default": false
+            }
+          },
+          "required": [
+            "UNKNOWN",
+            "CAR",
+            "TRUCK",
+            "BUS",
+            "TRAILER",
+            "MOTORCYCLE",
+            "BICYCLE",
+            "PEDESTRIAN"
+          ],
+          "additionalProperties": false
+        }
+      },
+      "required": [
+        "intensity_threshold",
+        "existence_probability_threshold",
+        "max_x",
+        "min_x",
+        "max_y",
+        "min_y",
+        "filter_target_label"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/low_intensity_cluster_filter"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}