diff --git a/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
new file mode 100644
index 00000000..1d5d525b
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_left_upper.param.yaml
@@ -0,0 +1,47 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [15, 143.95, 147.1],
+        [72, 319, 322],
+        [73, 318, 323],
+        [74, 318, 323],
+        [75, 318, 323],
+        [76, 318, 324],
+        [77, 318, 325],
+        [77, 318, 325],
+        [78, 318, 325],
+        [79, 318, 325],
+        [80, 318, 325],
+        [81, 318, 325],
+        [82, 318, 325],
+        [83, 318, 325],
+        [84, 319, 325],
+        [85, 319, 325],
+        [86, 319, 325],
+        [87, 320, 325],
+        [88, 321, 325],
+        [89, 322, 323],
+
+        [91, 287.55, 289.90],
+        [92, 287.55, 289.75],
+        [109, 314.74, 316.74],
+        [110, 312.74, 317.34],
+        [111, 312.73, 315.93],
+        [112, 308.48, 313.28],
+        [113, 305.68, 312.28],
+        [114, 308.58, 310.58],
+        [117, 305.77, 313.77],
+        [118, 303.81, 308.53],
+        [119, 302.09, 307.53],
+        [120, 298.42, 307.63],
+        [121, 299.63, 312.03],
+        [122, 298.42, 310.02],
+        [123, 298.42, 310.22],
+        [124, 298.16, 308.76],
+        [125, 295.94, 307.54],
+        [126, 292.12, 303.92],
+        [127, 289.71, 297.31]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml b/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml
new file mode 100644
index 00000000..d47a15dd
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters_right_upper.param.yaml
@@ -0,0 +1,42 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [71, 36, 39],
+        [72, 36, 39],
+        [73, 36, 39],
+        [74, 36, 41],
+        [75, 36, 41],
+        [76, 36, 41],
+        [77, 34, 41],
+        [77, 34, 41],
+        [78, 33, 41],
+        [79, 33, 41],
+        [80, 33, 41],
+        [81, 33, 41],
+        [82, 33, 41],
+        [83, 33, 41],
+        [84, 33, 40],
+        [85, 33, 40],
+        [86, 33, 39],
+        [87, 33, 39],
+        [88, 34, 37],
+        [88, 36, 37],
+        [88, 35, 37],
+
+        [110, 43.17, 45.17],
+        [110, 87.78, 89.97],
+        [117, 49.80, 51.80],
+        [118, 49.60, 51.60],
+        [119, 50.40, 52.60],
+        [120, 49.28, 52.88],
+        [121, 46.08, 55.08],
+        [122, 48.07, 56.87],
+        [123, 48.07, 58.67],
+        [124, 51.80, 60.20],
+        [125, 50.98, 63.58],
+        [126, 52.56, 65.76],
+        [127, 58.57, 69.17]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index 6c68f439..d81914fb 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -89,7 +89,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_left_upper.param.yaml" />
       </include>
     </group>
 
@@ -224,7 +224,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_upper.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters_right_upper.param.yaml" />
       </include>
     </group>