diff --git a/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_fifth.param.yaml b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_fifth.param.yaml
new file mode 100644
index 00000000..263ea1a1
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/front_lower/point_filters_one_fifth.param.yaml
@@ -0,0 +1,15 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [0, 0, 128], [0, 232,360],
+        [5, 0, 121], [5, 242,360],
+        [10, 0, 115], [10, 250,360],
+        [15, 0, 108], [15, 252,360],
+        [20, 0, 105], [20, 258,360],
+        [25, 0, 103], [25, 260,360],
+        [30, 0, 94], [30, 266,360],
+        [35, 0, 94], [35, 266,360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_fifth.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_fifth.param.yaml
new file mode 100644
index 00000000..d1efe23b
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_lower/point_filters_one_fifth.param.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+          [0, 0, 360],
+          [5, 0, 152], [5, 206, 217], [5, 220, 360],
+          [10, 0, 141], [10, 235, 360],
+          [15, 0, 131], [15, 235, 360],
+          [20, 0, 125], [20, 235, 360],
+          [25, 0, 122], [25, 235, 360],
+          [30, 0, 110], [30, 240, 360],
+          [35, 0, 107], [35, 244, 265],
+          [40, 0, 105], [40, 244, 265],
+          [45, 0, 101],
+          [50, 0, 93]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_half.param.yaml
new file mode 100644
index 00000000..21204bac
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_half.param.yaml
@@ -0,0 +1,38 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [11, 322, 336],[11, 354, 360],
+        [15, 143.95, 147.1],[15, 318, 360],
+        [19, 330, 360],
+        [23, 330, 360],
+        [31, 348, 360],
+        [45, 339, 360],
+        [59, 99, 101.5],[59, 330, 360],
+        [61, 330, 341],
+        [63, 330, 341],
+        [65, 330, 341],
+        [67, 330, 342],
+        [69, 330, 342],
+        [71, 331, 341],
+        [73, 316, 360],
+        [75, 318, 341],
+        [77, 318, 360],
+        [79, 315, 360],
+        [81, 318, 360],
+        [83, 318, 360],
+        [85, 319, 360],
+        [87, 320, 360],
+        [89, 322, 323],
+        [91, 287.55, 289.90],
+        [113, 305.68, 360],
+        [115, 307, 360],
+        [117, 303, 360],
+        [119, 302.09, 360],
+        [121, 90, 91],[121, 299.63, 360],
+        [123, 90, 92],[123, 298.42, 360],
+        [125, 90, 93],[125, 293, 360],
+        [127, 90, 93],[127, 289.71, 360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_fifth.param.yaml b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_fifth.param.yaml
new file mode 100644
index 00000000..622697d1
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/rear_lower/point_filters_one_fifth.param.yaml
@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [0, 0, 148], [0, 212,360],
+        [5, 0, 138], [5, 222,360],
+        [10, 0, 130], [10, 230,360],
+        [15, 0, 118], [15, 242,360],
+        [20, 0, 112], [20, 248,360],
+        [25, 0, 110], [25, 250,360],
+        [30, 0, 104], [30, 256,360],
+        [35, 0, 100], [35, 260,360],
+        [40, 0, 96], [40, 264,360],
+        [45, 0, 94], [45, 266,360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_fifth.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_fifth.param.yaml
new file mode 100644
index 00000000..06146be2
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_lower/point_filters_one_fifth.param.yaml
@@ -0,0 +1,18 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [0, 0, 360],
+        [5, 0, 157],[5, 205, 360],
+        [10, 0, 151],[10, 221, 360],
+        [15, 0, 150],[15, 233, 360],
+        [20, 97, 143],[20, 240, 360],
+        [25, 106, 124],[25, 246, 360],
+        [30, 111, 117],[30, 250, 360],
+        [35, 253, 360],
+        [40, 255, 360],
+        [45, 259, 360],
+        [50, 267, 360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_half.param.yaml
new file mode 100644
index 00000000..331cd15a
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_half.param.yaml
@@ -0,0 +1,65 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [1, 0, 15],
+        [3, 0, 15],
+        [17, 0, 10],
+        [19, 0, 10],
+        [21, 0, 10],
+        [23, 0, 10],
+        [25, 0, 10],
+        [27, 0, 10],
+        [29, 0, 10],
+        [31, 0, 15],
+        [33, 0, 10],
+        [35, 0, 10],
+        [37, 0, 10],
+        [39, 0, 10],
+        [41, 0, 10],
+        [43, 0, 10],
+        [45, 0, 25],
+        [47, 0, 25],
+        [49, 0, 26],
+        [51, 0, 40],
+        [53, 0, 40],
+        [55, 0, 40],
+        [57, 0, 45],
+        [59, 0, 45],
+        [61, 0, 40],
+        [63, 0, 35],
+        [65, 0, 35],
+        [67, 0, 40],[67, 269, 360],
+        [69, 0, 42],[69, 269, 360],
+        [71, 0, 44],[71, 269, 360],
+        [73, 0, 44],[73, 269, 360],
+        [75, 0, 44],[75, 269, 360],
+        [77, 0, 45],[77, 269, 360],
+        [79, 0, 45],[79, 269, 360],
+        [81, 0, 45],[81, 269, 360],
+        [83, 0, 45],[83, 269, 360],
+        [85, 0, 45],[85, 269, 360],
+        [87, 0, 45],[87, 269, 360],
+        [89, 0, 45],[89, 269, 360],
+        [91, 0, 45],[91, 269, 360],
+        [93, 0, 44],[93, 269, 360],
+        [95, 0, 44],[95, 269, 360],
+        [97, 0, 44],[97, 269, 360],
+        [99, 0, 44],[99, 269, 360],
+        [101, 0, 46],[101, 269, 360],
+        [103, 0, 44],[103, 269, 360],
+        [105, 0, 44],[105, 269, 360],
+        [107, 0, 44],[107, 269, 360],
+        [109, 0, 47],[109, 269, 360],
+        [111, 0, 49],[111, 269, 360],
+        [113, 0, 52],[113, 269, 360],
+        [115, 0, 54],[115, 269, 360],
+        [117, 0, 56],[117, 269, 360],
+        [119, 0, 58],[119, 269, 360],
+        [121, 0, 61],[121, 269, 360],
+        [123, 0, 66],[123, 268, 360],
+        [125, 0, 69],[125, 267, 360],
+        [127, 0, 72],[127, 267, 360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/launch/lidar.launch.xml b/aip_x2_gen2_launch/launch/lidar.launch.xml
index acce6edd..e59cc1e3 100644
--- a/aip_x2_gen2_launch/launch/lidar.launch.xml
+++ b/aip_x2_gen2_launch/launch/lidar.launch.xml
@@ -101,7 +101,7 @@
         <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="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_half.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -144,7 +144,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/rear_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/rear_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -187,7 +187,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/left_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/left_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -274,7 +274,7 @@
         <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="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_one_third.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_half.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_upper/point_filters_one_third.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -317,7 +317,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/front_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/front_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />
@@ -360,7 +360,7 @@
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
         <arg name="calibration_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/pandar/right_lower.csv" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
-        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.yaml" />
+        <arg name="point_filters_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_one_fifth.param.yaml" />
         <arg name="point_filters.downsample_mask.path" value="$(find-pkg-share aip_x2_gen2_launch)/config/point_filters/right_lower/point_filters_full.param.png" />
         <arg name="dual_return_distance_threshold" value="0.1"/>
         <arg name="blockage_diagnostics_param_file" value="$(find-pkg-share aip_x2_gen2_launch)/config/blockage_diagnostics_param_file.yaml" />