diff --git a/perception/autoware_traffic_light_multi_camera_fusion/README.md b/perception/autoware_traffic_light_multi_camera_fusion/README.md
index f7ee294cda147..446fc73a5dd3e 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/README.md
+++ b/perception/autoware_traffic_light_multi_camera_fusion/README.md
@@ -27,9 +27,4 @@ You don't need to configure these topics manually. Just provide the `camera_name
 
 ## Node parameters
 
-| Parameter              | Type            | Description                                      |
-| ---------------------- | --------------- | ------------------------------------------------ |
-| `camera_namespaces`    | vector\<string> | Camera Namespaces to be fused                    |
-| `message_lifespan`     | double          | The maximum timestamp span to be fused           |
-| `approximate_sync`     | bool            | Whether work in Approximate Synchronization Mode |
-| `perform_group_fusion` | bool            | Whether perform Group Fusion                     |
+{{ json_to_markdown("perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json") }}
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml b/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml
index 4e9459ce4a71c..62f8d47bf7525 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml
+++ b/perception/autoware_traffic_light_multi_camera_fusion/config/traffic_light_multi_camera_fusion.param.yaml
@@ -3,4 +3,3 @@
     camera_namespaces: ["camera6", "camera7"]
     message_lifespan: 0.09
     approximate_sync: false
-    perform_group_fusion: true
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json b/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json
new file mode 100644
index 0000000000000..bdd6dca516fa5
--- /dev/null
+++ b/perception/autoware_traffic_light_multi_camera_fusion/schema/traffic_light_multi_camera_fusion.schema.json
@@ -0,0 +1,46 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_traffic_light_multi_camera_fusion parameter",
+  "type": "object",
+  "definitions": {
+    "autoware_traffic_light_multi_camera_fusion": {
+      "type": "object",
+      "properties": {
+        "camera_namespaces": {
+          "type": "array",
+          "description": "Camera namespaces to be fused.",
+          "items": {
+            "type": "string"
+          },
+          "default": []
+        },
+        "message_lifespan": {
+          "type": "number",
+          "description": "The maximum timestamp span to be fused.",
+          "default": 0.0
+        },
+        "approximate_sync": {
+          "type": "boolean",
+          "description": "Whether to work in Approximate Synchronization Mode.",
+          "default": false
+        }
+      },
+      "required": ["camera_namespaces", "message_lifespan", "approximate_sync"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/autoware_traffic_light_multi_camera_fusion"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
index 15211920bc7f2..8655e3fabe334 100644
--- a/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
+++ b/perception/autoware_traffic_light_multi_camera_fusion/src/traffic_light_multi_camera_fusion_node.cpp
@@ -148,9 +148,9 @@ MultiCameraFusion::MultiCameraFusion(const rclcpp::NodeOptions & node_options)
   using std::placeholders::_3;
 
   std::vector<std::string> camera_namespaces =
-    this->declare_parameter("camera_namespaces", std::vector<std::string>{});
-  is_approximate_sync_ = this->declare_parameter<bool>("approximate_sync", false);
-  message_lifespan_ = this->declare_parameter<double>("message_lifespan", 0.09);
+    this->declare_parameter<std::vector<std::string>>("camera_namespaces");
+  is_approximate_sync_ = this->declare_parameter<bool>("approximate_sync");
+  message_lifespan_ = this->declare_parameter<double>("message_lifespan");
   for (const std::string & camera_ns : camera_namespaces) {
     std::string signal_topic = camera_ns + "/classification/traffic_signals";
     std::string roi_topic = camera_ns + "/detection/rois";