diff --git a/modules/perception/base/BUILD b/modules/perception/base/BUILD
index 3163f2b304dde9e74c2f5570bc7825e2b3c98a5a..bb81571df16bb8230adb6f292bafcc2f096cd3b3 100644
--- a/modules/perception/base/BUILD
+++ b/modules/perception/base/BUILD
@@ -136,6 +136,14 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "frame",
+    hdrs = [
+        "frame.h",
+        "frame_supplement.h",
+    ],
+)
+
 cc_library(
     name = "object",
     hdrs = [
@@ -165,6 +173,16 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "object_pool",
+    hdrs = [
+        "object_pool.h",
+        "concurrent_object_pool.h",
+    ],
+    deps = [
+    ],
+)
+
 cc_library(
     name = "omnidirectional_model",
     hdrs = [
@@ -242,6 +260,14 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "sensor_meta",
+    hdrs = [
+        "sensor_meta.h",
+    ],
+)
+
+
 cc_library(
     name = "syncedmem",
     srcs = [
diff --git a/modules/perception/base/concurrent_object_pool.h b/modules/perception/base/concurrent_object_pool.h
index 250a144c97349fcbc48b28b703a7984c8eca3aa2..45f1b39ac7215419c1ed70f7ef806f14e39c23dd 100644
--- a/modules/perception/base/concurrent_object_pool.h
+++ b/modules/perception/base/concurrent_object_pool.h
@@ -15,11 +15,13 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_CONCURRENT_OBJECT_POOL_H_
 #define MODULES_PERCEPTION_BASE_CONCURRENT_OBJECT_POOL_H_
+
 #include <deque>
 #include <list>
 #include <mutex>
 #include <queue>
 #include <vector>
+
 #include "modules/perception/base/object_pool.h"
 
 #define PERCEPTION_BASE_DISABLE_POOL
@@ -50,6 +52,7 @@ class ConcurrentObjectPool : public BaseObjectPool<ObjectType> {
   }
   // @brief overrided function to get object smart pointer
   ObjectTypePtr Get() override {
+// TODO(All): remove conditional build
 #ifndef PERCEPTION_BASE_DISABLE_POOL
     ObjectType* ptr = nullptr;
     {
diff --git a/modules/perception/base/object_pool.h b/modules/perception/base/object_pool.h
index 37178d558b84707004f09d45d23971843926c4a7..91bcfafab6d724158603ce682530345f69c8f750 100644
--- a/modules/perception/base/object_pool.h
+++ b/modules/perception/base/object_pool.h
@@ -27,7 +27,9 @@ namespace base {
 template <class ObjectType>
 class BaseObjectPool {
  public:
-  typedef std::shared_ptr<ObjectType> ObjectTypePtr;
+  // TODO(All): remove
+  // typedef std::shared_ptr<ObjectType> ObjectTypePtr;
+
   // @brief default constructor
   BaseObjectPool() = default;
   // @brief default destructor
diff --git a/modules/perception/base/object_pool_types.h b/modules/perception/base/object_pool_types.h
index b806c030506e579c9e390b62f617c733b433dadf..f7d71ae2afb2f321d577753bc9f91f52e62dca0a 100644
--- a/modules/perception/base/object_pool_types.h
+++ b/modules/perception/base/object_pool_types.h
@@ -15,6 +15,7 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_OBJECT_POOL_TYPES_H_
 #define MODULES_PERCEPTION_BASE_OBJECT_POOL_TYPES_H_
+
 #include "modules/perception/base/concurrent_object_pool.h"
 #include "modules/perception/base/frame.h"
 #include "modules/perception/base/object.h"
diff --git a/modules/perception/base/sensor_meta.h b/modules/perception/base/sensor_meta.h
index 4ee0119ef709da8d4823b45c93b30f78ba5ed3d1..85810b17b05ba9517e3c10ed2667a70943d89842 100644
--- a/modules/perception/base/sensor_meta.h
+++ b/modules/perception/base/sensor_meta.h
@@ -68,7 +68,8 @@ struct SensorInfo {
   }
 };
 
-typedef std::shared_ptr<SensorInfo> SensorInfoPtr;
+// TODO(All): remove
+// typedef std::shared_ptr<SensorInfo> SensorInfoPtr;
 
 }  // namespace base
 }  // namespace perception