diff --git a/config/default_outlier_removal_config.yaml b/config/default_outlier_removal_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ff09bbb0314621e5ba3ce0788d65a350e09e390
--- /dev/null
+++ b/config/default_outlier_removal_config.yaml
@@ -0,0 +1,4 @@
+mean_k: 20
+stddev: 2.0
+negative: False
+
diff --git a/config/default_passthrough_config.yaml b/config/default_passthrough_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a81499adbfd4665627117336afef6bba46c13a5c
--- /dev/null
+++ b/config/default_passthrough_config.yaml
@@ -0,0 +1,4 @@
+filter_field_name: x
+filter_limit_min: 1.1
+filter_limit_max: 2.2
+filter_limit_negative: False
diff --git a/config/default_radius_outlier_removal_config.yaml b/config/default_radius_outlier_removal_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..23952938277fae7cc9492e32647da98c9ecba5d4
--- /dev/null
+++ b/config/default_radius_outlier_removal_config.yaml
@@ -0,0 +1,3 @@
+radius_search: 0.1
+min_neighbors: 15
+
diff --git a/config/default_voxels_config.yaml b/config/default_voxels_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0c335082b5364ba9d4b67ea7ace488b13481d116
--- /dev/null
+++ b/config/default_voxels_config.yaml
@@ -0,0 +1,5 @@
+leaf_size: 0.03
+filter_field_name: z
+filter_limit_min: -0.5
+filter_limit_max: 3.0
+filter_limit_negative: False