diff --git a/perception/object_velocity_splitter/README.md b/perception/object_velocity_splitter/README.md
index 9dcd535a5a10f..57d2834f3f442 100644
--- a/perception/object_velocity_splitter/README.md
+++ b/perception/object_velocity_splitter/README.md
@@ -3,21 +3,23 @@
 This package contains a object filter module for [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl).
 This package can split DetectedObjects into two messages by object's speed.
 
-## Input
+## Interface
 
-| Name              | Type                                                  | Description          |
-| ----------------- | ----------------------------------------------------- | -------------------- |
-| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected objects. |
+### Input
 
-## Output
+- `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
+  - 3D detected objects
 
-| Name                          | Type                                                  | Description             |
-| ----------------------------- | ----------------------------------------------------- | ----------------------- |
-| `~/output/low_speed_objects`  | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Objects with low speed  |
-| `~/output/high_speed_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Objects with high speed |
+### Output
 
-## Parameters
+- `~/output/low_speed_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
+  - Objects with low speed
+- `~/output/high_speed_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`)
+  - Objects with high speed
 
-| Name                 | Type   | Description                                         | Default value |
-| :------------------- | :----- | :-------------------------------------------------- | :------------ |
-| `velocity_threshold` | double | Velocity threshold parameter to split objects [m/s] | 3.0           |
+### Parameters
+
+- `velocity_threshold` (double) [m/s]
+  - Default parameter is 3.0
+
+This parameter is velocity threshold to split objects