diff --git a/modules/v2x/fusion/apps/BUILD b/modules/v2x/fusion/apps/BUILD
index 2e9099fdb529c47a11a1cdfa7b70e9c8158712a6..1febb387c9ac19ec647df7af5e07fc11b768b88d 100644
--- a/modules/v2x/fusion/apps/BUILD
+++ b/modules/v2x/fusion/apps/BUILD
@@ -11,13 +11,11 @@ cc_library(
         "-DMODULE_NAME=\\\"v2x_fusion\\\"",
     ],
     deps = [
-        "//cyber/common:file",
-        "//modules/common/math",
-        "//modules/v2x/fusion/apps/common:apps_common",
-        "//modules/v2x/fusion/configs:v2x_configs_lib",
-        "//modules/v2x/fusion/libs/common/base",
-        "//modules/v2x/fusion/libs/fusion:v2x_fusion_lib",
-        "@boost",
+        "//cyber/component",
+        "//modules/v2x/fusion/apps/common:trans_tools",
+        "//modules/v2x/fusion/configs:ft_config_manager",
+        "//modules/v2x/fusion/configs:fusion_tracker_gflags",
+        "//modules/v2x/fusion/libs/fusion",
     ],
     alwayslink = True,
 )
diff --git a/modules/v2x/fusion/apps/common/BUILD b/modules/v2x/fusion/apps/common/BUILD
index 75e307a223fe4cb01c0379d708310d664d7f1941..83a0fcae0c60844233468d97a15b2b498d9e5954 100644
--- a/modules/v2x/fusion/apps/common/BUILD
+++ b/modules/v2x/fusion/apps/common/BUILD
@@ -4,23 +4,24 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "apps_common",
-    srcs = [
-        "trans_tools.cc",
-    ],
-    hdrs = [
-        "ft_definitions.h",
-        "trans_tools.h",
-    ],
-    copts = ['-DMODULE_NAME=\\"v2x_fusion\\"'],
+    name = "ft_definitions",
+    hdrs = ["ft_definitions.h"],
     deps = [
-        "//cyber",
-        "//modules/common/math",
         "//modules/localization/proto:localization_cc_proto",
         "//modules/perception/proto:perception_camera_cc_proto",
-        "//modules/v2x/fusion/libs/common/base",
+        "//modules/v2x/fusion/libs/common:v2x_object",
         "//modules/v2x/proto:v2x_obstacles_cc_proto",
     ],
 )
 
+cc_library(
+    name = "trans_tools",
+    srcs = ["trans_tools.cc"],
+    hdrs = ["trans_tools.h"],
+    copts = ['-DMODULE_NAME=\\"v2x_fusion\\"'],
+    deps = [
+        ":ft_definitions",
+    ],
+)
+
 cpplint()
diff --git a/modules/v2x/fusion/apps/common/ft_definitions.h b/modules/v2x/fusion/apps/common/ft_definitions.h
index ad7aa152d5d278107258ccca4db27e9b9a9850d0..63513c85f33ac7f96a54e6895519314efa5e8ac3 100644
--- a/modules/v2x/fusion/apps/common/ft_definitions.h
+++ b/modules/v2x/fusion/apps/common/ft_definitions.h
@@ -22,7 +22,7 @@
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/v2x/proto/v2x_obstacles.pb.h"
 
-#include "modules/v2x/fusion/libs/common/base/v2x_object.h"
+#include "modules/v2x/fusion/libs/common/v2x_object.h"
 
 namespace apollo {
 namespace v2x {
diff --git a/modules/v2x/fusion/apps/common/trans_tools.cc b/modules/v2x/fusion/apps/common/trans_tools.cc
index ed8702832fd5492a48eb08d52942db55262bc06b..174c0e11582651090e52cfc8bfe62759ca74edd6 100644
--- a/modules/v2x/fusion/apps/common/trans_tools.cc
+++ b/modules/v2x/fusion/apps/common/trans_tools.cc
@@ -16,7 +16,6 @@
 
 #include "modules/v2x/fusion/apps/common/trans_tools.h"
 
-#include <iostream>
 #include <limits>
 
 namespace apollo {
diff --git a/modules/v2x/fusion/apps/v2x_fusion_component.h b/modules/v2x/fusion/apps/v2x_fusion_component.h
index a5d23f12d22002b748333193c41b648d68523e2e..25651af3a7ddbcacd72fb52159d99c99ae577f3e 100644
--- a/modules/v2x/fusion/apps/v2x_fusion_component.h
+++ b/modules/v2x/fusion/apps/v2x_fusion_component.h
@@ -27,7 +27,6 @@
 #include <vector>
 
 #include "cyber/component/component.h"
-#include "cyber/cyber.h"
 #include "modules/v2x/fusion/apps/common/trans_tools.h"
 #include "modules/v2x/fusion/configs/ft_config_manager.h"
 #include "modules/v2x/fusion/configs/fusion_tracker_gflags.h"
diff --git a/modules/v2x/fusion/configs/BUILD b/modules/v2x/fusion/configs/BUILD
index 7395d9880a47dca6dc06008bc9e4a42dec376db7..97759c58686a4ceb20fb32cc4462d37c9de7df5d 100644
--- a/modules/v2x/fusion/configs/BUILD
+++ b/modules/v2x/fusion/configs/BUILD
@@ -3,22 +3,10 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "v2x_configs_lib",
-    deps = [
-        ":ft_config_manager",
-        ":fusion_tracker_gflags",
-    ],
-)
-
 cc_library(
     name = "fusion_tracker_gflags",
-    srcs = [
-        "fusion_tracker_gflags.cc",
-    ],
-    hdrs = [
-        "fusion_tracker_gflags.h",
-    ],
+    srcs = ["fusion_tracker_gflags.cc"],
+    hdrs = ["fusion_tracker_gflags.h"],
     deps = [
         "@com_github_gflags_gflags//:gflags",
     ],
@@ -26,12 +14,8 @@ cc_library(
 
 cc_library(
     name = "ft_config_manager",
-    srcs = [
-        "ft_config_manager.cc",
-    ],
-    hdrs = [
-        "ft_config_manager.h",
-    ],
+    srcs = ["ft_config_manager.cc"],
+    hdrs = ["ft_config_manager.h"],
     deps = [
         ":fusion_tracker_gflags",
         "//cyber",
@@ -44,7 +28,7 @@ cc_test(
     size = "small",
     srcs = ["ft_config_manager_test.cc"],
     deps = [
-        ":v2x_configs_lib",
+        ":ft_config_manager",
         "@com_google_googletest//:gtest_main",
     ],
 )
diff --git a/modules/v2x/fusion/libs/common/base/BUILD b/modules/v2x/fusion/libs/common/BUILD
similarity index 92%
rename from modules/v2x/fusion/libs/common/base/BUILD
rename to modules/v2x/fusion/libs/common/BUILD
index f6fd05beaca08974336393b43af396706e8c39e9..819ed67510102613eec385687c56c68ec9051d0d 100644
--- a/modules/v2x/fusion/libs/common/base/BUILD
+++ b/modules/v2x/fusion/libs/common/BUILD
@@ -4,7 +4,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "base",
+    name = "v2x_object",
     hdrs = [
         "v2x_object.h",
     ],
@@ -21,7 +21,7 @@ cc_test(
     size = "small",
     srcs = ["v2x_object_test.cc"],
     deps = [
-        ":base",
+        ":v2x_object",
         "@com_google_googletest//:gtest_main",
     ],
 )
diff --git a/modules/v2x/fusion/libs/common/base/v2x_object.h b/modules/v2x/fusion/libs/common/v2x_object.h
similarity index 100%
rename from modules/v2x/fusion/libs/common/base/v2x_object.h
rename to modules/v2x/fusion/libs/common/v2x_object.h
diff --git a/modules/v2x/fusion/libs/common/base/v2x_object_test.cc b/modules/v2x/fusion/libs/common/v2x_object_test.cc
similarity index 96%
rename from modules/v2x/fusion/libs/common/base/v2x_object_test.cc
rename to modules/v2x/fusion/libs/common/v2x_object_test.cc
index 9ef39b58394ba4b9f55166e88c547970a663ce0d..26c769a1bd7cfc2bc3213816d31ac821cfdd50bb 100644
--- a/modules/v2x/fusion/libs/common/base/v2x_object_test.cc
+++ b/modules/v2x/fusion/libs/common/v2x_object_test.cc
@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#include "modules/v2x/fusion/libs/common/base/v2x_object.h"
+#include "modules/v2x/fusion/libs/common/v2x_object.h"
 
 #include "gtest/gtest.h"
 
diff --git a/modules/v2x/fusion/libs/fusion/BUILD b/modules/v2x/fusion/libs/fusion/BUILD
index 4a15d6371d6b6157110d4c1ec5130c64b8da5f72..b61a3c0e8f023904a348b95fef7b7841c87774d0 100644
--- a/modules/v2x/fusion/libs/fusion/BUILD
+++ b/modules/v2x/fusion/libs/fusion/BUILD
@@ -4,21 +4,31 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "v2x_fusion_lib",
-    srcs = [
-        "fusion.cc",
+    name = "fusion",
+    srcs = ["fusion.cc"],
+    hdrs = ["fusion.h"],
+    copts = ['-DMODULE_NAME=\\"v2x_fusion\\"'],
+    deps = [
+        ":km",
+        "//modules/v2x/fusion/configs:ft_config_manager",
+        "//modules/v2x/fusion/libs/common:v2x_object",
+        "@eigen",
     ],
-    hdrs = [
-        "fusion.h",
-        "km.h",
-        "test_tools.h",
+)
+
+cc_library(
+    name = "km",
+    hdrs = ["km.h"],
+    deps = [
+        "@eigen",
     ],
-    copts = ['-DMODULE_NAME=\\"v2x_fusion\\"'],
+)
+
+cc_library(
+    name = "test_tools",
+    hdrs = ["test_tools.h"],
     deps = [
-        "//cyber",
-        "//modules/common/math",
-        "//modules/v2x/fusion/configs:v2x_configs_lib",
-        "//modules/v2x/fusion/libs/common/base",
+        "//modules/v2x/fusion/libs/common:v2x_object",
     ],
 )
 
@@ -27,7 +37,8 @@ cc_test(
     size = "small",
     srcs = ["fusion_test.cc"],
     deps = [
-        ":v2x_fusion_lib",
+        ":fusion",
+        ":test_tools",
         "@com_google_googletest//:gtest_main",
     ],
 )
@@ -37,7 +48,7 @@ cc_test(
     size = "small",
     srcs = ["km_test.cc"],
     deps = [
-        ":v2x_fusion_lib",
+        ":km",
         "@com_google_googletest//:gtest_main",
     ],
 )
diff --git a/modules/v2x/fusion/libs/fusion/fusion.h b/modules/v2x/fusion/libs/fusion/fusion.h
index 6e828e5f9dec0676071fe6463298fbb565a26787..38d9f6e37e757b18dd97d5d6d7ad3979eb72b9e1 100644
--- a/modules/v2x/fusion/libs/fusion/fusion.h
+++ b/modules/v2x/fusion/libs/fusion/fusion.h
@@ -28,7 +28,7 @@
 #include <Eigen/Core>
 
 #include "modules/v2x/fusion/configs/ft_config_manager.h"
-#include "modules/v2x/fusion/libs/common/base/v2x_object.h"
+#include "modules/v2x/fusion/libs/common/v2x_object.h"
 #include "modules/v2x/fusion/libs/fusion/km.h"
 
 namespace apollo {
diff --git a/modules/v2x/fusion/libs/fusion/test_tools.h b/modules/v2x/fusion/libs/fusion/test_tools.h
index 1056909fa0c62ce67a5421d6a174e0008e4ba9b0..6d1d5493440389bd05904a6494e91a1dcc81d7d7 100644
--- a/modules/v2x/fusion/libs/fusion/test_tools.h
+++ b/modules/v2x/fusion/libs/fusion/test_tools.h
@@ -19,7 +19,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/v2x/fusion/libs/common/base/v2x_object.h"
+#include "modules/v2x/fusion/libs/common/v2x_object.h"
 
 namespace apollo {
 namespace v2x {