diff --git a/config/voxel_layer_params.yaml b/config/voxel_layer_params.yaml
index b168fdd..d2445cc 100644
--- a/config/voxel_layer_params.yaml
+++ b/config/voxel_layer_params.yaml
@@ -7,9 +7,4 @@ voxel_layer:
   z_voxels: 16
   unknown_threshold: 15.0
   mark_threshold: 0
-  combination_method: 1
-  frustum_clearing_enabled: true
-  frustum_clearing_pixel_step: 8
-  frustum_min_range: 0.20
-  frustum_max_range: 3.0
-  frustum_depth_camera_topic: /camera/depth/data
+  combination_method: 1
\ No newline at end of file