diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
index f805385573302..99a58eace1002 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
@@ -414,7 +414,7 @@ bool VoxelGridDynamicMapLoader::is_close_to_map(
 }
 void VoxelGridDynamicMapLoader::timer_callback()
 {
-  std::optional<geometry_msgs::msg::Point> current_position = std::nullopt;
+  std::optional<geometry_msgs::msg::Point> current_position;
   {
     std::lock_guard<std::mutex> lock(dynamic_map_loader_mutex_);
     current_position = current_position_;
@@ -434,7 +434,7 @@ void VoxelGridDynamicMapLoader::timer_callback()
 
 bool VoxelGridDynamicMapLoader::should_update_map(
   const geometry_msgs::msg::Point & current_point, const geometry_msgs::msg::Point & last_point,
-  const double map_update_distance_threshold) const
+  const double map_update_distance_threshold)
 {
   if (distance2D(current_point, last_point) > map_update_distance_threshold) {
     return true;
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
index dbc1dbd6b6227..642cefe610e49 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
@@ -190,9 +190,9 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
   void onEstimatedPoseCallback(nav_msgs::msg::Odometry::ConstSharedPtr msg);
 
   void timer_callback();
-  bool should_update_map(
+  static bool should_update_map(
     const geometry_msgs::msg::Point & current_point, const geometry_msgs::msg::Point & last_point,
-    const double map_update_distance_threshold) const;
+    const double map_update_distance_threshold);
   void request_update_map(const geometry_msgs::msg::Point & position);
   bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override;
   /** \brief Check if point close to map pointcloud in the */