diff --git a/modules/perception/base/BUILD b/modules/perception/base/BUILD
index f818646ee5f2b3137805454ab550a23011819c05..78edcceb9edf5b15fbc59afcda741392d6874d28 100644
--- a/modules/perception/base/BUILD
+++ b/modules/perception/base/BUILD
@@ -2,6 +2,29 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "blob",
+    srcs = [
+        "blob.cc",
+    ],
+    hdrs = [
+        "blob.h",
+    ],
+    deps = [
+        ":common",
+        ":syncedmem",
+    ],
+)
+
+cc_library(
+    name = "common",
+    hdrs = [
+        "common.h",
+    ],
+    deps = [
+    ],
+)
+
 cc_library(
     name = "point_cloud",
     hdrs = [
@@ -91,4 +114,17 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "syncedmem",
+    srcs = [
+        "syncedmem.cc",
+    ],
+    hdrs = [
+        "syncedmem.h",
+    ],
+    deps = [
+        ":common",
+    ],
+)
+
 cpplint()
diff --git a/modules/perception/base/blob.cc b/modules/perception/base/blob.cc
index 94bbbfa37c4fef24819a4dfb1f425ac4750124e0..d178a5288dcdf02c0c5bb9d131f0d0b61a8a6968 100644
--- a/modules/perception/base/blob.cc
+++ b/modules/perception/base/blob.cc
@@ -17,7 +17,6 @@
 #include <vector>
 
 #include "modules/perception/base/blob.h"
-#include "modules/perception/base/syncedmem.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/base/blob.h b/modules/perception/base/blob.h
index b39c5a2e9b0402c17e954eca971f6e44cc0f314e..dbaa190c121566eb8747ecb8d32072683ef44140 100644
--- a/modules/perception/base/blob.h
+++ b/modules/perception/base/blob.h
@@ -16,9 +16,7 @@
 #ifndef MODULES_PERCEPTION_BASE_BLOB_H_
 #define MODULES_PERCEPTION_BASE_BLOB_H_
 
-#include <algorithm>
 #include <memory>
-#include <sstream>
 #include <string>
 #include <vector>
 
diff --git a/modules/perception/base/common.h b/modules/perception/base/common.h
index 8677f8d8503a3aa6a3e07ae909be8ff4f2362185..d48d48f1a289709b98a5b9c91feaab7405192c5f 100644
--- a/modules/perception/base/common.h
+++ b/modules/perception/base/common.h
@@ -17,7 +17,6 @@
 #define MODULES_PERCEPTION_BASE_COMMON_H_
 
 #include <assert.h>
-#include "modules/perception/base/options_define.h"
 
 #ifndef PERCEPTION_CPU_ONLY
 
diff --git a/modules/perception/base/syncedmem.h b/modules/perception/base/syncedmem.h
index 4149fb10bfd3d7560da3d9c1f3569ed740f263f8..799937b2cb839ebd9eff6e7cfbe57a46c6058865 100644
--- a/modules/perception/base/syncedmem.h
+++ b/modules/perception/base/syncedmem.h
@@ -55,19 +55,26 @@ inline void PerceptionFreeHost(void* ptr, bool use_cuda) {
  */
 class SyncedMemory {
  public:
+  enum SyncedHead {
+    UNINITIALIZED,
+    HEAD_AT_CPU,
+    HEAD_AT_GPU,
+    SYNCED
+  };
+
   explicit SyncedMemory(bool use_cuda);
   explicit SyncedMemory(size_t size, bool use_cuda);
   SyncedMemory(const SyncedMemory&) = delete;
   void operator=(const SyncedMemory&) = delete;
-
   ~SyncedMemory();
+
   const void* cpu_data();
   void set_cpu_data(void* data);
   const void* gpu_data();
   void set_gpu_data(void* data);
   void* mutable_cpu_data();
   void* mutable_gpu_data();
-  enum SyncedHead { UNINITIALIZED, HEAD_AT_CPU, HEAD_AT_GPU, SYNCED };
+
   SyncedHead head() const { return head_; }
   void set_head(SyncedHead head) { head_ = head; }
   void set_head_gpu() { set_head(HEAD_AT_GPU); }
@@ -80,9 +87,10 @@ class SyncedMemory {
 
  private:
   void check_device();
-
   void to_cpu();
   void to_gpu();
+
+ private:
   void* cpu_ptr_;
   void* gpu_ptr_;
   size_t size_;