diff --git a/.gitignore b/.gitignore
index 8c79b505c..95d6ccf58 100644
--- a/.gitignore
+++ b/.gitignore
@@ -215,6 +215,9 @@ log/
 .pyenv2/*
 .pyenv3/*
 
+# Generated parameter library files
+**/vision_parameters.py
+
 ansible_robots/*
 doc_internal/*
 doku/*
diff --git a/bitbots_vision/bitbots_vision/params.py b/bitbots_vision/bitbots_vision/params.py
deleted file mode 100755
index 3fc386011..000000000
--- a/bitbots_vision/bitbots_vision/params.py
+++ /dev/null
@@ -1,111 +0,0 @@
-from rcl_interfaces.msg import FloatingPointRange, IntegerRange, ParameterDescriptor, ParameterType
-
-
-class ParameterGenerator:  # TODO own file
-    def __init__(self):
-        self.param_cache = []
-
-    def declare_params(self, node):
-        for param in self.param_cache:
-            node.declare_parameter(*param)
-
-    def add(self, param_name, param_type=None, default=None, description=None, min=None, max=None, step=None):
-        describtor = ParameterDescriptor()
-        describtor.name = param_name
-        if description is None:
-            describtor.description = param_name
-        else:
-            describtor.description = description
-
-        if param_type is None and default is not None:
-            param_type = type(default)
-
-        py2ros_param_type = {
-            None: ParameterType.PARAMETER_NOT_SET,
-            bool: ParameterType.PARAMETER_BOOL,
-            int: ParameterType.PARAMETER_INTEGER,
-            float: ParameterType.PARAMETER_DOUBLE,
-            str: ParameterType.PARAMETER_STRING,
-        }
-
-        param_type = py2ros_param_type.get(param_type, param_type)
-
-        describtor.type = param_type
-
-        if param_type == ParameterType.PARAMETER_INTEGER:
-            if step is None:
-                step = 1
-            if all(x is not None or isinstance(x, int) for x in [min, max, step]):
-                param_range = IntegerRange()
-                param_range.from_value = min
-                param_range.to_value = max
-                param_range.step = step
-                describtor.integer_range = [param_range]
-
-        if param_type == ParameterType.PARAMETER_DOUBLE:
-            if step is None:
-                step = 0.01
-            if all(x is not None for x in [min, max]):
-                param_range = FloatingPointRange()
-                param_range.from_value = float(min)
-                param_range.to_value = float(max)
-                param_range.step = float(step)
-                describtor.floating_point_range = [param_range]
-
-        type2default_default = {
-            ParameterType.PARAMETER_NOT_SET: 0,
-            ParameterType.PARAMETER_BOOL: False,
-            ParameterType.PARAMETER_INTEGER: 0,
-            ParameterType.PARAMETER_DOUBLE: 0.0,
-            ParameterType.PARAMETER_STRING: "",
-        }
-
-        if default is None:
-            default = type2default_default[param_type]
-
-        self.param_cache.append((param_name, default, describtor))
-
-
-gen = ParameterGenerator()
-
-##########
-# Params #
-##########
-
-gen.add("component_ball_detection_active", bool, description="Activate/Deactivate the ball detection component")
-gen.add("component_debug_image_active", bool, description="Activate/Deactivate the debug image component")
-gen.add("component_field_detection_active", bool, description="Activate/Deactivate the field detection component")
-gen.add("component_goalpost_detection_active", bool, description="Activate/Deactivate the goalpost detection component")
-gen.add("component_line_detection_active", bool, description="Activate/Deactivate the line detection component")
-gen.add("component_robot_detection_active", bool, description="Activate/Deactivate the robot detection component")
-
-gen.add("ROS_img_msg_topic", str, description="ROS topic of the image message")
-gen.add("ROS_ball_msg_topic", str, description="ROS topic of the ball message")
-gen.add("ROS_goal_posts_msg_topic", str, description="ROS topic of the goal posts message")
-gen.add("ROS_robot_msg_topic", str, description="ROS topic of the robots message")
-gen.add("ROS_line_msg_topic", str, description="ROS topic of the line message")
-gen.add("ROS_line_mask_msg_topic", str, description="ROS topic of the line mask message")
-gen.add("ROS_debug_image_msg_topic", str, description="ROS topic of the debug image message")
-gen.add("ROS_field_mask_image_msg_topic", str, description="ROS topic of the field mask debug image message")
-
-gen.add("yoeo_model_path", str, description="Name of YOEO model")
-gen.add("yoeo_nms_threshold", float, description="YOEO Non-maximum suppression threshold", min=0.0, max=1.0)
-gen.add("yoeo_conf_threshold", float, description="YOEO confidence threshold", min=0.0, max=1.0)
-gen.add(
-    "yoeo_framework",
-    str,
-    description="The neural network framework that should be used ['pytorch', 'openvino', 'onnx', 'tvm']",
-)
-
-gen.add(
-    "ball_candidate_rating_threshold",
-    float,
-    description="A threshold for the minimum candidate rating",
-    min=0.0,
-    max=1.0,
-)
-gen.add(
-    "ball_candidate_max_count", int, description="The maximum number of balls that should be published", min=0, max=50
-)
-
-gen.add("caching", bool, description="Used to deactivate caching for profiling reasons")
diff --git a/bitbots_vision/bitbots_vision/vision.py b/bitbots_vision/bitbots_vision/vision.py
index 9cc31131a..cb4a26b56 100755
--- a/bitbots_vision/bitbots_vision/vision.py
+++ b/bitbots_vision/bitbots_vision/vision.py
@@ -1,18 +1,15 @@
 #! /usr/bin/env python3
-from copy import deepcopy
 from typing import Optional
 
 import rclpy
 from ament_index_python.packages import get_package_share_directory
 from cv_bridge import CvBridge
 from rcl_interfaces.msg import SetParametersResult
-from rclpy.experimental.events_executor import EventsExecutor
 from rclpy.node import Node
 from sensor_msgs.msg import Image
 
 from bitbots_vision.vision_modules import debug, ros_utils, yoeo
-
-from .params import gen
+from bitbots_vision.vision_parameters import bitbots_vision as parameters
 
 logger = rclpy.logging.get_logger("bitbots_vision")
 
@@ -39,11 +36,14 @@ def __init__(self) -> None:
 
         logger.debug(f"Entering {self.__class__.__name__} constructor")
 
+        # Setup parameter listener directly
+        self.param_listener = parameters.ParamListener(self)
+        self.config = self.param_listener.get_params()
+
         self._package_path = get_package_share_directory("bitbots_vision")
 
         yoeo.YOEOObjectManager.set_package_directory(self._package_path)
 
-        self._config: dict = {}
         self._cv_bridge = CvBridge()
 
         self._sub_image = None
@@ -51,8 +51,7 @@ def __init__(self) -> None:
         self._vision_components: list[yoeo.AbstractVisionComponent] = []
         self._debug_image: Optional[debug.DebugImage] = None
 
-        # Setup reconfiguration
-        gen.declare_params(self)
+        # Setup reconfiguration callback
         self.add_on_set_parameters_callback(self._dynamic_reconfigure_callback)
 
         # Add general params
@@ -61,7 +60,8 @@ def __init__(self) -> None:
         # Update team color
         ros_utils.update_own_team_color(self)
 
-        self._dynamic_reconfigure_callback(self.get_parameters_by_prefix("").values())
+        # Configure vision with initial parameters
+        self._configure_vision(self.config)
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
 
@@ -69,24 +69,20 @@ def _dynamic_reconfigure_callback(self, params) -> SetParametersResult:
         """
         Callback for the dynamic reconfigure configuration.
 
-        :param dict params: new config
+        :param params: list of changed parameters
         """
-        new_config = self._get_updated_config_with(params)
-        self._configure_vision(new_config)
-        self._config = new_config
+        # Update the config from the parameter listener
+        self.config = self.param_listener.get_params()
+        
+        # Configure vision with the updated config
+        self._configure_vision(self.config)
 
         return SetParametersResult(successful=True)
 
-    def _get_updated_config_with(self, params) -> dict:
-        new_config = deepcopy(self._config)
-        for param in params:
-            new_config[param.name] = param.value
-        return new_config
-
-    def _configure_vision(self, new_config: dict) -> None:
-        yoeo.YOEOObjectManager.configure(new_config)
+    def _configure_vision(self, config) -> None:
+        yoeo.YOEOObjectManager.configure(config.yoeo)
 
-        debug_image = debug.DebugImage(new_config["component_debug_image_active"])
+        debug_image = debug.DebugImage(config.component_debug_image_active)
         self._debug_image = debug_image
 
         def make_vision_component(
@@ -96,39 +92,45 @@ def make_vision_component(
                 node=self,
                 yoeo_handler=yoeo.YOEOObjectManager.get(),
                 debug_image=debug_image,
-                config=new_config,
+                config=config,  # Now passing config object directly
                 **kwargs,
             )
 
         self._vision_components = [make_vision_component(yoeo.YOEOComponent)]
 
-        if new_config["component_ball_detection_active"]:
+        if config.component_ball_detection_active:
             self._vision_components.append(make_vision_component(yoeo.BallDetectionComponent))
-        if new_config["component_robot_detection_active"]:
+        if config.component_robot_detection_active:
             self._vision_components.append(
                 make_vision_component(
                     yoeo.RobotDetectionComponent,
                     team_color_detection_supported=yoeo.YOEOObjectManager.is_team_color_detection_supported(),
                 )
             )
-        if new_config["component_goalpost_detection_active"]:
+        if config.component_goalpost_detection_active:
             self._vision_components.append(make_vision_component(yoeo.GoalpostDetectionComponent))
-        if new_config["component_line_detection_active"]:
+        if config.component_line_detection_active:
             self._vision_components.append(make_vision_component(yoeo.LineDetectionComponent))
-        if new_config["component_field_detection_active"]:
+        if config.component_field_detection_active:
             self._vision_components.append(make_vision_component(yoeo.FieldDetectionComponent))
-        if new_config["component_debug_image_active"]:
+        if config.component_debug_image_active:
             self._vision_components.append(make_vision_component(yoeo.DebugImageComponent))
 
-        self._sub_image = ros_utils.create_or_update_subscriber(
+        # For the subscriber update, use the improved ros_utils function
+        old_topic = getattr(self, '_last_img_topic', None)
+        current_topic = config.ROS_img_msg_topic
+        
+        self._sub_image = ros_utils.create_or_update_subscriber_with_config(
             self,
-            self._config,
-            new_config,
+            old_topic,
+            current_topic,
             self._sub_image,
-            "ROS_img_msg_topic",
             Image,
-            callback=self._run_vision_pipeline,
+            self._run_vision_pipeline,
         )
+            
+        # Remember this topic for next time
+        self._last_img_topic = current_topic
 
     @profile
     def _run_vision_pipeline(self, image_msg: Image) -> None:
diff --git a/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py b/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py
index 53a41fcad..5ee1b3b3c 100644
--- a/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py
+++ b/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py
@@ -46,6 +46,32 @@ class RobotColor(Enum):
 own_team_color: RobotColor = RobotColor.UNKNOWN
 
 
+def create_or_update_subscriber_with_config(
+    node, old_topic, new_topic, subscriber_object, data_class, callback, qos_profile=1, callback_group=None
+):
+    """
+    Creates or updates a subscriber using direct topic names instead of config dicts
+    
+    :param node: ROS node to which the publisher is bound
+    :param old_topic: Previous topic name
+    :param new_topic: New topic name  
+    :param subscriber_object: The python object, that represents the subscriber
+    :param data_class: Data type class for ROS messages of the topic we want to subscribe
+    :param callback: The subscriber callback function
+    :param qos_profile: A QoSProfile or a history depth to apply to the subscription.
+    :param callback_group: The callback group for the subscription.
+    :return: adjusted subscriber object
+    """
+    # Check if topic has changed
+    if old_topic != new_topic:
+        # Create the new subscriber
+        subscriber_object = node.create_subscription(
+            data_class, new_topic, callback, qos_profile, callback_group=callback_group
+        )
+        logger.debug("Registered new subscriber at " + str(new_topic))
+    return subscriber_object
+
+
 def create_or_update_subscriber(
     node, old_config, new_config, subscriber_object, topic_key, data_class, callback, qos_profile=1, callback_group=None
 ):
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py b/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
index 3aadfb974..cca167f8f 100644
--- a/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
+++ b/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
@@ -4,6 +4,7 @@
 import rclpy
 
 from bitbots_vision.vision_modules import ros_utils
+from bitbots_vision.vision_parameters import bitbots_vision as parameters
 
 from . import yoeo_handlers
 from .model_config import ModelConfig, ModelConfigLoader
@@ -72,19 +73,19 @@ def is_team_color_detection_supported(cls) -> bool:
         return cls._model_config.team_colors_are_provided()
 
     @classmethod
-    def configure(cls, config: dict) -> None:
+    def configure(cls, yoeo_config) -> None:
         if not cls._package_directory_set:
             logger.error("Package directory not set!")
 
-        framework = config["yoeo_framework"]
+        framework = yoeo_config.framework
         cls._verify_framework_parameter(framework)
 
-        model_path = cls._get_full_model_path(config["yoeo_model_path"])
+        model_path = cls._get_full_model_path(yoeo_config.model_path)
         cls._verify_required_neural_network_files_exist(framework, model_path)
 
-        cls._configure_yoeo_instance(config, framework, model_path)
+        cls._configure_yoeo_instance(yoeo_config, framework, model_path)
 
-        cls._config = config
+        cls._config = yoeo_config
         cls._framework = framework
         cls._model_path = model_path
 
@@ -107,13 +108,13 @@ def _model_files_exist(cls, framework: str, model_path: str) -> bool:
         return cls._HANDLERS_BY_NAME[framework].model_files_exist(model_path)
 
     @classmethod
-    def _configure_yoeo_instance(cls, config: dict, framework: str, model_path: str) -> None:
+    def _configure_yoeo_instance(cls, yoeo_config, framework: str, model_path: str) -> None:
         if cls._new_yoeo_handler_is_needed(framework, model_path):
             cls._load_model_config(model_path)
             cls._instantiate_new_yoeo_handler(config, framework, model_path)
-        elif cls._yoeo_parameters_have_changed(config):
+        elif cls._yoeo_parameters_have_changed(yoeo_config):
             assert cls._yoeo_instance is not None, "YOEO handler instance not set!"
-            cls._yoeo_instance.configure(config)
+            cls._yoeo_instance.configure(yoeo_config)
 
     @classmethod
     def _new_yoeo_handler_is_needed(cls, framework: str, model_path: str) -> bool:
@@ -124,9 +125,9 @@ def _load_model_config(cls, model_path: str) -> None:
         cls._model_config = ModelConfigLoader.load_from(model_path)
 
     @classmethod
-    def _instantiate_new_yoeo_handler(cls, config: dict, framework: str, model_path: str) -> None:
+    def _instantiate_new_yoeo_handler(cls, yoeo_config, framework: str, model_path: str) -> None:
         cls._yoeo_instance = cls._HANDLERS_BY_NAME[framework](
-            config,
+            yoeo_config,
             model_path,
             cls._model_config.get_detection_classes(),
             cls._model_config.get_robot_class_ids(),
@@ -135,5 +136,9 @@ def _instantiate_new_yoeo_handler(cls, config: dict, framework: str, model_path:
         logger.info(f"Using {cls._yoeo_instance.__class__.__name__}")
 
     @classmethod
-    def _yoeo_parameters_have_changed(cls, new_config: dict) -> bool:
-        return ros_utils.config_param_change(cls._config, new_config, r"yoeo_")
+    def _yoeo_parameters_have_changed(cls, new_yoeo_config) -> bool:
+        if cls._config is None:
+            return True
+        
+        # Compare YOEO parameters using the hierarchical structure
+        return cls._config != new_yoeo_config
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py b/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py
index 2fd5d0a1f..74cc7663a 100644
--- a/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py
+++ b/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py
@@ -57,7 +57,7 @@ def __init__(
     ):
         super().__init__(node, yoeo_handler, debug_image, config)
 
-        self._publisher = self._node.create_publisher(BallArray, self._config["ROS_ball_msg_topic"], qos_profile=1)
+        self._publisher = self._node.create_publisher(BallArray, self._config.ROS_ball_msg_topic, qos_profile=1)
 
     def run(self, image: np.ndarray, header: Header) -> None:
         # Get all ball candidates from YOEO
@@ -65,9 +65,9 @@ def run(self, image: np.ndarray, header: Header) -> None:
 
         # Filter candidates by rating and count
         candidates = candidate.Candidate.sort_candidates(candidates)
-        top_candidates = candidates[: self._config["ball_candidate_max_count"]]
+        top_candidates = candidates[: self._config.ball_candidate_max_count]
         final_candidates = candidate.Candidate.rating_threshold(
-            top_candidates, self._config["ball_candidate_rating_threshold"]
+            top_candidates, self._config.ball_candidate_rating_threshold
         )
 
         # Publish ball candidates
@@ -95,7 +95,7 @@ def __init__(
         super().__init__(node, yoeo_handler, debug_image, config)
 
         self._publisher = self._node.create_publisher(
-            GoalpostArray, self._config["ROS_goal_posts_msg_topic"], qos_profile=1
+            GoalpostArray, self._config.ROS_goal_posts_msg_topic, qos_profile=1
         )
 
     def run(self, image: np.ndarray, header: Header) -> None:
@@ -125,7 +125,7 @@ def __init__(
         self, node: Node, yoeo_handler: yoeo_handlers.IYOEOHandler, debug_image: debug.DebugImage, config: dict
     ):
         super().__init__(node, yoeo_handler, debug_image, config)
-        self._publisher = self._node.create_publisher(Image, self._config["ROS_line_mask_msg_topic"], qos_profile=1)
+        self._publisher = self._node.create_publisher(Image, self._config.ROS_line_mask_msg_topic, qos_profile=1)
 
     def run(self, image: np.ndarray, header: Header) -> None:
         # Get line mask from YOEO
@@ -153,7 +153,7 @@ def __init__(
     ):
         super().__init__(node, yoeo_handler, debug_image, config)
         self._publisher = self._node.create_publisher(
-            Image, self._config["ROS_field_mask_image_msg_topic"], qos_profile=1
+            Image, self._config.ROS_field_mask_image_msg_topic, qos_profile=1
         )
 
     def run(self, image: np.ndarray, header: Header) -> None:
@@ -185,7 +185,7 @@ def __init__(
         super().__init__(node, yoeo_handler, debug_image, config)
 
         self._team_color_detection_supported = team_color_detection_supported
-        self._publisher = self._node.create_publisher(RobotArray, self._config["ROS_robot_msg_topic"], qos_profile=1)
+        self._publisher = self._node.create_publisher(RobotArray, self._config.ROS_robot_msg_topic, qos_profile=1)
 
     def run(self, image: np.ndarray, header: Header) -> None:
         robot_msgs: list[Robot] = []
@@ -282,7 +282,7 @@ def __init__(
     ):
         super().__init__(node, yoeo_handler, debug_image, config)
 
-        self._publisher = self._node.create_publisher(Image, self._config["ROS_debug_image_msg_topic"], qos_profile=1)
+        self._publisher = self._node.create_publisher(Image, self._config.ROS_debug_image_msg_topic, qos_profile=1)
 
     def run(self, image: np.ndarray, header: Header) -> None:
         debug_image_msg = ros_utils.build_image_msg(header, self._debug_image.get_image(), "bgr8")
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py b/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
index 9409dc3ea..50061f285 100644
--- a/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
+++ b/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
@@ -9,6 +9,8 @@
 import numpy as np
 import rclpy
 
+from bitbots_vision.vision_parameters import bitbots_vision as parameters
+
 from bitbots_vision.vision_modules.candidate import Candidate
 
 from . import utils
@@ -22,7 +24,7 @@ class IYOEOHandler(ABC):
     """
 
     @abstractmethod
-    def configure(self, config: dict) -> None:
+    def configure(self, yoeo_config) -> None:
         """
         Allows to (re-) configure the YOEO handler.
         """
@@ -98,7 +100,7 @@ class YOEOHandlerTemplate(IYOEOHandler):
 
     def __init__(
         self,
-        config: dict,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -117,12 +119,12 @@ def __init__(
         self._seg_class_names: list[str] = seg_class_names
         self._seg_masks: dict = dict()
 
-        self._use_caching: bool = config["caching"]
+        self._use_caching: bool = yoeo_config.caching
 
         logger.debug("Leaving YOEOHandlerTemplate constructor")
 
-    def configure(self, config: dict) -> None:
-        self._use_caching = config["caching"]
+    def configure(self, yoeo_config) -> None:
+        self._use_caching = yoeo_config.caching
 
     def get_available_detection_class_names(self) -> list[str]:
         return self._det_class_names
@@ -211,7 +213,7 @@ class YOEOHandlerONNX(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: dict,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -238,8 +240,8 @@ def __init__(
         self._det_postprocessor: utils.IDetectionPostProcessor = utils.DefaultDetectionPostProcessor(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config["yoeo_conf_threshold"],
-            nms_thresh=config["yoeo_nms_threshold"],
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
         self._seg_postprocessor: utils.ISegmentationPostProcessor = utils.DefaultSegmentationPostProcessor(
@@ -248,13 +250,13 @@ def __init__(
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
 
-    def configure(self, config: dict) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
         self._det_postprocessor.configure(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config["yoeo_conf_threshold"],
-            nms_thresh=config["yoeo_nms_threshold"],
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
 
@@ -284,7 +286,7 @@ class YOEOHandlerOpenVino(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: dict,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -320,8 +322,8 @@ def __init__(
         self._det_postprocessor: utils.IDetectionPostProcessor = utils.DefaultDetectionPostProcessor(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config["yoeo_conf_threshold"],
-            nms_thresh=config["yoeo_nms_threshold"],
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
         self._seg_postprocessor: utils.ISegmentationPostProcessor = utils.DefaultSegmentationPostProcessor(
@@ -337,13 +339,13 @@ def _select_device(self) -> str:
             device = "CPU"
         return device
 
-    def configure(self, config: dict) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
         self._det_postprocessor.configure(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config["yoeo_conf_threshold"],
-            nms_thresh=config["yoeo_nms_threshold"],
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
 
@@ -372,7 +374,7 @@ class YOEOHandlerPytorch(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: dict,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -398,8 +400,8 @@ def __init__(
         logger.debug(f"Loading files...\n\t{config_path}\n\t{weights_path}")
         self._model = torch_models.load_model(config_path, weights_path)
 
-        self._conf_thresh: float = config["yoeo_conf_threshold"]
-        self._nms_thresh: float = config["yoeo_nms_threshold"]
+        self._conf_thresh: float = yoeo_config.conf_threshold
+        self._nms_thresh: float = yoeo_config.nms_threshold
         self._group_config: torch_GroupConfig = self._update_group_config()
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
@@ -409,10 +411,10 @@ def _update_group_config(self):
 
         return self.torch_group_config(group_ids=robot_class_ids, surrogate_id=robot_class_ids[0])
 
-    def configure(self, config: dict) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
-        self._conf_thresh = config["yoeo_conf_threshold"]
-        self._nms_thresh = config["yoeo_nms_threshold"]
+        self._conf_thresh = yoeo_config.conf_threshold
+        self._nms_thresh = yoeo_config.nms_threshold
         self._group_config = self._update_group_config()
 
     @staticmethod
@@ -446,7 +448,7 @@ class YOEOHandlerTVM(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: dict,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -485,8 +487,8 @@ def __init__(
         self._det_postprocessor: utils.IDetectionPostProcessor = utils.DefaultDetectionPostProcessor(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer_shape[2],
-            conf_thresh=config["yoeo_conf_threshold"],
-            nms_thresh=config["yoeo_nms_threshold"],
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
         self._seg_postprocessor: utils.ISegmentationPostProcessor = utils.DefaultSegmentationPostProcessor(
@@ -495,13 +497,13 @@ def __init__(
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
 
-    def configure(self, config: dict) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
         self._det_postprocessor.configure(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer_shape[2],
-            conf_thresh=config["yoeo_conf_threshold"],
-            nms_thresh=config["yoeo_nms_threshold"],
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
 
diff --git a/bitbots_vision/config/vision_parameters.yaml b/bitbots_vision/config/vision_parameters.yaml
new file mode 100644
index 000000000..e6106bc7d
--- /dev/null
+++ b/bitbots_vision/config/vision_parameters.yaml
@@ -0,0 +1,128 @@
+bitbots_vision:
+  # Component activation parameters
+  component_ball_detection_active:
+    type: bool
+    default_value: true
+    description: "Activate/Deactivate the ball detection component"
+  
+  component_debug_image_active:
+    type: bool
+    default_value: false
+    description: "Activate/Deactivate the debug image component"
+  
+  component_field_detection_active:
+    type: bool
+    default_value: true
+    description: "Activate/Deactivate the field detection component"
+  
+  component_goalpost_detection_active:
+    type: bool
+    default_value: false
+    description: "Activate/Deactivate the goalpost detection component"
+  
+  component_line_detection_active:
+    type: bool
+    default_value: true
+    description: "Activate/Deactivate the line detection component"
+  
+  component_robot_detection_active:
+    type: bool
+    default_value: true
+    description: "Activate/Deactivate the robot detection component"
+
+  # ROS topic parameters  
+  ROS_img_msg_topic:
+    type: string
+    default_value: "camera/image_proc"
+    description: "ROS topic of the image message"
+    read_only: true
+  
+  ROS_ball_msg_topic:
+    type: string
+    default_value: "balls_in_image"
+    description: "ROS topic of the ball message"
+    read_only: true
+  
+  ROS_goal_posts_msg_topic:
+    type: string
+    default_value: "goal_posts_in_image"
+    description: "ROS topic of the goal posts message"
+    read_only: true
+  
+  ROS_robot_msg_topic:
+    type: string
+    default_value: "robots_in_image"
+    description: "ROS topic of the robots message"
+    read_only: true
+  
+  ROS_line_msg_topic:
+    type: string
+    default_value: "line_in_image"
+    description: "ROS topic of the line message"
+    read_only: true
+  
+  ROS_line_mask_msg_topic:
+    type: string
+    default_value: "line_mask_in_image"
+    description: "ROS topic of the line mask message"
+    read_only: true
+  
+  ROS_debug_image_msg_topic:
+    type: string
+    default_value: "debug_image"
+    description: "ROS topic of the debug image message"
+    read_only: true
+  
+  ROS_field_mask_image_msg_topic:
+    type: string
+    default_value: "field_mask"
+    description: "ROS topic of the field mask debug image message"
+    read_only: true
+
+  # YOEO model parameters with hierarchy
+  yoeo:
+    model_path:
+      type: string
+      default_value: "2022_10_07_flo_torso21_yoeox"
+      description: "Name of YOEO model"
+    
+    nms_threshold:
+      type: double
+      default_value: 0.4
+      description: "YOEO Non-maximum suppression threshold"
+      validation:
+        bounds<>: [0.0, 1.0]
+    
+    conf_threshold:
+      type: double
+      default_value: 0.5
+      description: "YOEO confidence threshold"
+      validation:
+        bounds<>: [0.0, 1.0]
+    
+    framework:
+      type: string
+      default_value: "tvm"
+      description: "The neural network framework that should be used"
+      validation:
+        one_of<>: [["pytorch", "openvino", "onnx", "tvm"]]
+    
+    caching:
+      type: bool
+      default_value: true
+      description: "Used to deactivate caching for profiling reasons"
+
+  # Ball detection parameters
+  ball_candidate_rating_threshold:
+    type: double
+    default_value: 0.5
+    description: "A threshold for the minimum candidate rating"
+    validation:
+      bounds<>: [0.0, 1.0]
+  
+  ball_candidate_max_count:
+    type: int
+    default_value: 1
+    description: "The maximum number of balls that should be published"
+    validation:
+      bounds<>: [0, 50]
\ No newline at end of file
diff --git a/bitbots_vision/package.xml b/bitbots_vision/package.xml
index 6f5b75f5e..794cb8a77 100644
--- a/bitbots_vision/package.xml
+++ b/bitbots_vision/package.xml
@@ -29,6 +29,7 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <depend>bitbots_utils</depend>
   <depend>game_controller_hl_interfaces</depend>
+  <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
   <depend>image_transport</depend>
   <depend>python3-numpy</depend>
diff --git a/bitbots_vision/setup.py b/bitbots_vision/setup.py
index 96b053d04..d7288708e 100755
--- a/bitbots_vision/setup.py
+++ b/bitbots_vision/setup.py
@@ -1,8 +1,14 @@
 import glob
 import os
 
+from generate_parameter_library_py.setup_helper import generate_parameter_module
 from setuptools import find_packages, setup
 
+generate_parameter_module(
+    "vision_parameters",  # python module name for parameter library
+    "config/vision_parameters.yaml",  # path to input yaml file
+)
+
 package_name = "bitbots_vision"