diff --git a/modules/perception/BUILD b/modules/perception/BUILD
index 42e71e468f401026ce1006a60a6ff731e7f421b9..27794a93529cba6483e4bd4e084dfd5b7a31c9b2 100644
--- a/modules/perception/BUILD
+++ b/modules/perception/BUILD
@@ -12,7 +12,7 @@ cc_library(
         "//modules/common",
         "//modules/common:apollo_app",
         "//modules/common/adapters:adapter_manager",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/obstacle/onboard:perception_obstacle_fusion_subnode",
         "//modules/perception/obstacle/onboard:perception_obstacle_lidar_subnode",
diff --git a/modules/perception/common/BUILD b/modules/perception/common/BUILD
index 101e1cd2f165262cff5e8ff058b4d0c6f8bd809b..4bea8aa82586c5f9c362cb48f287979225b22247 100644
--- a/modules/perception/common/BUILD
+++ b/modules/perception/common/BUILD
@@ -3,13 +3,13 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_common",
-    srcs = glob([
-        "*.cc",
-    ]),
-    hdrs = glob([
-        "*.h",
-    ]),
+    name = "common",
+    srcs = [
+        "perception_gflags.cc",
+    ],
+    hdrs = [
+        "perception_gflags.h",
+    ],
     deps = [
         "//modules/common",
     ],
diff --git a/modules/perception/lib/config_manager/BUILD b/modules/perception/lib/config_manager/BUILD
index a3585d063f1f059904ab310f1e719e9c4b8876c3..3a034d137e28eefa7fc043c2be1b9a4b6ef45eeb 100644
--- a/modules/perception/lib/config_manager/BUILD
+++ b/modules/perception/lib/config_manager/BUILD
@@ -15,7 +15,7 @@ cc_library(
     deps = [
         "//modules/common:log",
         "//modules/common/util",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/config_manager/proto:config_proto",
         "//modules/perception/obstacle/camera/common",
@@ -33,7 +33,7 @@ cc_test(
     data = ["//modules/perception:perception_data"],
     deps = [
         ":config_manager",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "@gtest//:main",
     ],
 )
diff --git a/modules/perception/obstacle/base/BUILD b/modules/perception/obstacle/base/BUILD
index 03c350929c9f3fb7bc3efc64e67d0f1a21f0ddda..457c3be5b2fe6254956152fb292cce98de95e58f 100644
--- a/modules/perception/obstacle/base/BUILD
+++ b/modules/perception/obstacle/base/BUILD
@@ -3,11 +3,11 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_base",
+    name = "base",
     srcs = [
         "object.cc",
-        "types.cc",
         "object_supplement.cc",
+        "types.cc",
     ],
     hdrs = [
         "hdmap_struct.h",
@@ -19,25 +19,25 @@ cc_library(
         "//modules/common",
         "//modules/common/proto:error_code_proto",
         "//modules/common/util:string_util",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
+        "//modules/perception/obstacle/camera/lane_post_process/common:type",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
         "@eigen",
         "@opencv2//:core",
     ],
 )
 
 cc_test(
-    name = "perception_obstacle_base_test",
+    name = "base_test",
     size = "small",
     srcs = [
         "object_test.cc",
         "types_test.cc",
     ],
     deps = [
-        ":perception_obstacle_base",
+        ":base",
         "@gtest//:main",
     ],
 )
diff --git a/modules/perception/obstacle/camera/cipv/BUILD b/modules/perception/obstacle/camera/cipv/BUILD
index 726c1a32bb8a024c4dcda70fddb57c7b6bed0024..a806e5953520a53ede966904b97636cd21e5e341 100644
--- a/modules/perception/obstacle/camera/cipv/BUILD
+++ b/modules/perception/obstacle/camera/cipv/BUILD
@@ -7,15 +7,15 @@ cc_library(
     srcs = ["cipv.cc"],
     hdrs = ["cipv.h"],
     deps = [
-        "@eigen//:eigen",
         "//modules/common:log",
-        "//modules/perception/lib/base:base",
-        "//modules/perception/obstacle/camera/common:common",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
         "//modules/common/configs:vehicle_config_helper",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type"
-    ]
+        "//modules/perception/lib/base",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/common",
+        "//modules/perception/obstacle/camera/lane_post_process/common:type",
+        "//modules/perception/obstacle/common",
+        "@eigen",
+    ],
 )
 
 cpplint()
diff --git a/modules/perception/obstacle/camera/common/BUILD b/modules/perception/obstacle/camera/common/BUILD
index 1217ca778fe38d3b072dfb37e31e27ffd55a38e8..4b445d99d30410eb6fcac7472c30e81b8a4dd334 100644
--- a/modules/perception/obstacle/camera/common/BUILD
+++ b/modules/perception/obstacle/camera/common/BUILD
@@ -9,11 +9,10 @@ cc_library(
     hdrs = [
         "camera.h",
         "lane_object.h",
-        "util.h",
         "visual_object.h",
     ],
     deps = [
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "@eigen",
         "@undistort",
     ],
@@ -30,7 +29,7 @@ cc_library(
     ],
     deps = [
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "@eigen",
         "@undistort",
     ],
diff --git a/modules/perception/obstacle/camera/detector/common/BUILD b/modules/perception/obstacle/camera/detector/common/BUILD
index d6983a85a3b48fb8221820fecacc0687d1505664..f4658d1313201624ea7f0d94e00a16ca372c9b36 100644
--- a/modules/perception/obstacle/camera/detector/common/BUILD
+++ b/modules/perception/obstacle/camera/detector/common/BUILD
@@ -25,8 +25,8 @@ cc_library(
         "//modules/common:log",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/camera/common",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/common:util",
         "//modules/perception/obstacle/camera/detector/common/proto:tracking_feature_proto",
         "@caffe//:lib",
         "@cuda",
diff --git a/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD b/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD
index c8e0aea6a94329077f0ab7d9af270e65bb7a49a8..77e7124380a5213716ed8a7de707da960b78286f 100644
--- a/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD
+++ b/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD
@@ -8,10 +8,10 @@ cc_library(
     hdrs = ["region_output.h"],
     deps = [
         "//modules/common:log",
-        "//modules/perception/obstacle/camera/common:common",
+        "//modules/perception/obstacle/camera/common:util",
         "//modules/perception/obstacle/camera/detector/common:util",
-        "@opencv2//:core",
         "@caffe//:lib",
+        "@opencv2//:core",
     ],
 )
 
@@ -25,7 +25,7 @@ cc_library(
 #     ],
 #     deps = [
 #         "//modules/common:log",
-#         "//modules/perception/obstacle/base:perception_obstacle_base",
+#         "//modules/perception/obstacle/base",
 #         "@caffe//:lib",
 #         "@eigen",
 #     ],
@@ -37,7 +37,7 @@ cc_library(
     hdrs = ["util.h"],
     deps = [
         "//modules/common:log",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "@caffe//:lib",
         "@eigen",
     ],
diff --git a/modules/perception/obstacle/camera/dummy/BUILD b/modules/perception/obstacle/camera/dummy/BUILD
index 71ac390ffd455626d4aebdacced93a3127a23f23..97451166dd194f0874adbc03c4d3447b8d991dad 100644
--- a/modules/perception/obstacle/camera/dummy/BUILD
+++ b/modules/perception/obstacle/camera/dummy/BUILD
@@ -8,7 +8,7 @@ package(default_visibility = ["//visibility:public"])
 #     hdrs = ["dummy_algorithms.h"],
 #     deps = [
 #         "//modules/common:log",
-#         "//modules/perception/obstacle/base:perception_obstacle_base",
+#         "//modules/perception/obstacle/base",
 #         "@caffe//:lib",
 #         "@eigen",
 #     ],
diff --git a/modules/perception/obstacle/camera/interface/BUILD b/modules/perception/obstacle/camera/interface/BUILD
index 11f7843a1813821fdc7e3c95597e7f737057a0b6..4f5bfbb7e3af088a2ff9f043b25f3a3e6ef79705 100644
--- a/modules/perception/obstacle/camera/interface/BUILD
+++ b/modules/perception/obstacle/camera/interface/BUILD
@@ -8,7 +8,7 @@ cc_library(
     hdrs = glob(["*.h"]),
     deps = [
         "//modules/perception/lib/base",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "//modules/perception/obstacle/camera/common",
         "@eigen",
         "@opencv2//:core",
diff --git a/modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/BUILD b/modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/BUILD
index aee0673e38014c2d9c0519f5b30ac39d73069b64..7f2767763af8d9e161c88be21f1fd2bf5bf9b498 100644
--- a/modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/BUILD
+++ b/modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/BUILD
@@ -11,10 +11,11 @@ cc_library(
     ],
     deps = [
         "//modules/common:log",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_connected_component_analysis",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_util",
+        "//modules/perception/obstacle/camera/common:util",
+        "//modules/perception/obstacle/camera/lane_post_process/common:connected_component",
         "//modules/perception/obstacle/camera/lane_post_process/common:projector",
+        "//modules/perception/obstacle/camera/lane_post_process/common:type",
+        "//modules/perception/obstacle/camera/lane_post_process/common:util",
         "@eigen",
         "@opencv2//:core",
     ],
@@ -25,11 +26,11 @@ cc_library(
     srcs = ["cc_lane_post_processor.cc"],
     hdrs = ["cc_lane_post_processor.h"],
     deps = [
+        ":lane_frame",
         "//modules/common:log",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/camera/common",
+        "//modules/perception/obstacle/camera/common:util",
         "//modules/perception/obstacle/camera/interface",
-        "//modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor:lane_frame",
         "@eigen",
         "@opencv2//:core",
     ],
diff --git a/modules/perception/obstacle/camera/lane_post_process/common/BUILD b/modules/perception/obstacle/camera/lane_post_process/common/BUILD
index 7b80e0f9f1c2a525167dcec7a7886ea56be65897..019516d2a601a7ec5e59a37c2b317c487a796785 100644
--- a/modules/perception/obstacle/camera/lane_post_process/common/BUILD
+++ b/modules/perception/obstacle/camera/lane_post_process/common/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_camera_lane_post_process_common_type",
+    name = "type",
     hdrs = ["type.h"],
     deps = [
         "//modules/common:log",
@@ -13,21 +13,21 @@ cc_library(
 )
 
 cc_library(
-    name = "perception_obstacle_camera_lane_post_process_common_util",
+    name = "util",
     hdrs = ["util.h"],
     deps = [
+        ":type",
         "//modules/common:log",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_camera_lane_post_process_common_connected_component_analysis",
+    name = "connected_component",
     srcs = ["connected_component.cc"],
     hdrs = ["connected_component.h"],
     deps = [
+        ":type",
         "//modules/common:log",
-        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
         "@eigen",
         "@opencv2//:core",
     ],
diff --git a/modules/perception/obstacle/camera/motionmanager/BUILD b/modules/perception/obstacle/camera/motionmanager/BUILD
index 47565f0739fb25790108cde2afa34ce7407639d4..df4ac1bd487a88a48f9dac6d7edb4063a9d3d9ea 100644
--- a/modules/perception/obstacle/camera/motionmanager/BUILD
+++ b/modules/perception/obstacle/camera/motionmanager/BUILD
@@ -3,9 +3,9 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_camera_motionmanager",
+    name = "motionmanager",
     srcs = [
-        "vehicleplanemotion.cc"
+        "vehicleplanemotion.cc",
     ],
     hdrs = [
         "vehicleplanemotion.h",
@@ -14,8 +14,8 @@ cc_library(
         "-Wno-deprecated",
     ],
     deps = [
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
     ],
 )
 
-cpplint()
\ No newline at end of file
+cpplint()
diff --git a/modules/perception/obstacle/camera/tracker/BUILD b/modules/perception/obstacle/camera/tracker/BUILD
index 16ad1a67f38da3abf1ff6322002a75ff7ff79bd7..651d1def9389ea9f0afc82fdf2faac57457a6ce4 100644
--- a/modules/perception/obstacle/camera/tracker/BUILD
+++ b/modules/perception/obstacle/camera/tracker/BUILD
@@ -6,7 +6,7 @@ cc_library(
     name = "base_affinity",
     srcs = [],
     hdrs = ["base_affinity_tracker.h"],
-    deps = ["@opencv2//:core"]
+    deps = ["@opencv2//:core"],
 )
 
 cc_library(
@@ -14,33 +14,33 @@ cc_library(
     srcs = ["cascaded_camera_tracker_util.cc"],
     hdrs = ["cascaded_camera_tracker_util.h"],
     deps = [
-        "@eigen",
+        ":base_affinity",
         "//modules/common:log",
         "//modules/perception/lib/base",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/camera/common:common",
-        ":base_affinity"
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/common:util",
+        "//modules/perception/obstacle/common",
+        "@eigen",
     ],
 )
 
 cc_library(
     name = "cascaded",
-    srcs = ["cascaded_camera_tracker.cc",],
-    hdrs = ["cascaded_camera_tracker.h",],
+    srcs = ["cascaded_camera_tracker.cc"],
+    hdrs = ["cascaded_camera_tracker.h"],
     deps = [
-        "@eigen",
+        ":base_affinity",
+        ":util",
         "//modules/common:log",
         "//modules/perception/lib/base",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/camera/common:common",
-        "//modules/perception/obstacle/camera/interface:interface",
-        "//modules/perception/obstacle/camera/tracker/cs2d:cs2d",
-        "//modules/perception/obstacle/camera/tracker/dlf:dlf",
-        "//modules/perception/obstacle/camera/tracker/kcf:kcf",
-        ":base_affinity",
-        ":util"
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/common",
+        "//modules/perception/obstacle/camera/interface",
+        "//modules/perception/obstacle/camera/tracker/cs2d",
+        "//modules/perception/obstacle/camera/tracker/dlf",
+        "//modules/perception/obstacle/camera/tracker/kcf",
+        "//modules/perception/obstacle/common",
+        "@eigen",
     ],
 )
 
diff --git a/modules/perception/obstacle/camera/tracker/cs2d/BUILD b/modules/perception/obstacle/camera/tracker/cs2d/BUILD
index 38cfda6ef9df583f68f4f579406ce4c07e4dbf7f..fae1cdb1b8bdff57a8a149b840ec639fb76d30de 100644
--- a/modules/perception/obstacle/camera/tracker/cs2d/BUILD
+++ b/modules/perception/obstacle/camera/tracker/cs2d/BUILD
@@ -7,9 +7,9 @@ cc_library(
     srcs = ["cs2d_affinity_tracker.cc"],
     hdrs = ["cs2d_affinity_tracker.h"],
     deps = [
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/camera/tracker:base_affinity"
-    ]
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/tracker:base_affinity",
+    ],
 )
 
 cpplint()
diff --git a/modules/perception/obstacle/camera/tracker/dlf/BUILD b/modules/perception/obstacle/camera/tracker/dlf/BUILD
index faccea8888c235e9f8bdfa77fa0b0567700ebb34..4d9a3b07080275253b15eb602a32a72fc89c5c85 100644
--- a/modules/perception/obstacle/camera/tracker/dlf/BUILD
+++ b/modules/perception/obstacle/camera/tracker/dlf/BUILD
@@ -7,10 +7,10 @@ cc_library(
     srcs = ["dlf_affinity_tracker.cc"],
     hdrs = ["dlf_affinity_tracker.h"],
     deps = [
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/tracker:base_affinity",
         "@eigen",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/camera/tracker:base_affinity"
-    ]
+    ],
 )
 
 cpplint()
diff --git a/modules/perception/obstacle/camera/tracker/kcf/BUILD b/modules/perception/obstacle/camera/tracker/kcf/BUILD
index e21a6d272239b1a86dff76e1536fd1b68ac05ad6..f4065b2c07bc63aa03a2aed27e66054c89adb2d2 100644
--- a/modules/perception/obstacle/camera/tracker/kcf/BUILD
+++ b/modules/perception/obstacle/camera/tracker/kcf/BUILD
@@ -14,11 +14,11 @@ cc_library(
     ],
     deps = [
         "//modules/perception/lib/base",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "//modules/perception/obstacle/camera/common:util",
         "//modules/perception/obstacle/camera/tracker:base_affinity",
         "//modules/perception/obstacle/camera/tracker:util",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
+        "//modules/perception/obstacle/common",
         "@eigen",
         "@opencv2//:core",
     ],
diff --git a/modules/perception/obstacle/camera/visualizer/BUILD b/modules/perception/obstacle/camera/visualizer/BUILD
index 2b7304f29dacc5541eb645e38dbdb8ed55a034f2..9802c4c77c253086d43054f784102c501d1a3194 100644
--- a/modules/perception/obstacle/camera/visualizer/BUILD
+++ b/modules/perception/obstacle/camera/visualizer/BUILD
@@ -3,17 +3,17 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_camera_visualizer",
+    name = "visualizer",
     srcs = [
         "frame_content.cc",
-        "glfw_fusion_viewer.cc",
         "gl_fusion_visualizer.cc",
+        "glfw_fusion_viewer.cc",
     ],
     hdrs = [
-        "frame_content.h",
         "base_visualizer.h",
-        "glfw_fusion_viewer.h",
+        "frame_content.h",
         "gl_fusion_visualizer.h",
+        "glfw_fusion_viewer.h",
     ],
     copts = [
         "-Wno-deprecated",
@@ -22,15 +22,15 @@ cc_library(
         "//modules/common:log",
         "//modules/drivers/proto:sensor_proto",
         "//modules/perception/lib/base",
-        "//modules/perception/lib/config_manager:config_manager",
+        "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/radar/interface:perception_obstacle_radar_interface",
-        "//modules/perception/obstacle/camera/visualizer/common:perception_obstacle_camera_visualizer_common",
-        "@eigen//:eigen",
-        "@glew//:glew",
-        "@glfw//:glfw",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/visualizer/common",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/radar/interface",
+        "@eigen",
+        "@glew",
+        "@glfw",
     ],
 )
 
diff --git a/modules/perception/obstacle/camera/visualizer/common/BUILD b/modules/perception/obstacle/camera/visualizer/common/BUILD
index ca6e9403bcf7ddaf8f6bdaff376baaa44d7ef372..90eac8e510da82aae55ce77ce5324def1e023e0b 100644
--- a/modules/perception/obstacle/camera/visualizer/common/BUILD
+++ b/modules/perception/obstacle/camera/visualizer/common/BUILD
@@ -3,25 +3,25 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_camera_visualizer_common",
+    name = "common",
     srcs = [
         "camera.cc",
         "frame.cc",
-        "gl_raster_text.cc"
+        "gl_raster_text.cc",
     ],
     hdrs = [
         "bmp.h",
         "camera.h",
         "frame.h",
-        "gl_raster_text.h"
+        "gl_raster_text.h",
     ],
     copts = [
         "-Wno-deprecated",
     ],
     deps = [
-        "@eigen//:eigen",
-        "@glew//:glew",
-        "@glfw//:glfw"
+        "@eigen",
+        "@glew",
+        "@glfw",
     ],
 )
 
diff --git a/modules/perception/obstacle/common/BUILD b/modules/perception/obstacle/common/BUILD
index bff9757dadc3a1f1d02e123ba4a692320496b0f8..2ff9d8c661372eb6cfd9da2f172791c9c69b250c 100644
--- a/modules/perception/obstacle/common/BUILD
+++ b/modules/perception/obstacle/common/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_common",
+    name = "common",
     srcs = [
         "file_system_util.cc",
         "geometry_util.cc",
@@ -29,14 +29,14 @@ cc_library(
         "//modules/common:log",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "@eigen",
         "@yaml_cpp//:yaml",
     ],
 )
 
 cc_test(
-    name = "perception_obstacle_common_test",
+    name = "common_test",
     size = "small",
     srcs = [
         "convex_hullxy_test.cc",
@@ -52,8 +52,8 @@ cc_test(
         "//modules/perception:perception_data",
     ],
     deps = [
-        ":perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/object_builder/min_box:perception_obstacle_lidar_object_builder_min_box",
+        ":common",
+        "//modules/perception/obstacle/lidar/object_builder/min_box",
         "@gtest//:main",
     ],
 )
diff --git a/modules/perception/obstacle/fusion/interface/BUILD b/modules/perception/obstacle/fusion/interface/BUILD
index 2d000bdcd8855c2a0d79c9d72bd341b479f9ced7..8ed5255c1254fb6da8e2edf147b9ad71f68665ec 100644
--- a/modules/perception/obstacle/fusion/interface/BUILD
+++ b/modules/perception/obstacle/fusion/interface/BUILD
@@ -9,8 +9,8 @@ cc_library(
     deps = [
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/onboard:perception_obstacle_hdmapinput",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/onboard:hdmapinput",
         "@eigen",
     ],
 )
diff --git a/modules/perception/obstacle/fusion/probabilistic_fusion/BUILD b/modules/perception/obstacle/fusion/probabilistic_fusion/BUILD
index 73ed301001128adb20eec68af09438262dd861d5..f982d098b772ff5080537b6b759cfc745567ddc3 100644
--- a/modules/perception/obstacle/fusion/probabilistic_fusion/BUILD
+++ b/modules/perception/obstacle/fusion/probabilistic_fusion/BUILD
@@ -39,10 +39,10 @@ cc_library(
         "//modules/common",
         "//modules/common:log",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/common",
         "//modules/perception/obstacle/fusion/interface:perception_obstacle_fusion_interface",
-        "//modules/perception/obstacle/onboard:perception_obstacle_hdmapinput",
+        "//modules/perception/obstacle/onboard:hdmapinput",
         "@eigen",
         "@pcl",
     ],
diff --git a/modules/perception/obstacle/lidar/dummy/BUILD b/modules/perception/obstacle/lidar/dummy/BUILD
index e1b573a911ec10dc59fc39e47ebd0dbf92e4895a..a741820ac6b17eeaed0cddd5884d816e55524168 100644
--- a/modules/perception/obstacle/lidar/dummy/BUILD
+++ b/modules/perception/obstacle/lidar/dummy/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_dummy",
+    name = "dummy",
     srcs = [
         "dummy_algorithms.cc",
     ],
@@ -12,8 +12,8 @@ cc_library(
     ],
     deps = [
         "//modules/common:log",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/lidar/interface",
         "@eigen",
         "@pcl",
     ],
diff --git a/modules/perception/obstacle/lidar/interface/BUILD b/modules/perception/obstacle/lidar/interface/BUILD
index 13f472094393a08c39c6630e597a880f78796bb0..7b8d17e1b2438f5a01fc6211e9d02d474897fcb3 100644
--- a/modules/perception/obstacle/lidar/interface/BUILD
+++ b/modules/perception/obstacle/lidar/interface/BUILD
@@ -3,14 +3,14 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_interface",
+    name = "interface",
     srcs = [],
     hdrs = glob(["*.h"]),
     deps = [
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/onboard:perception_obstacle_hdmapinput",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/onboard:hdmapinput",
         "@eigen",
     ],
 )
diff --git a/modules/perception/obstacle/lidar/object_builder/min_box/BUILD b/modules/perception/obstacle/lidar/object_builder/min_box/BUILD
index 8ca16f3db6e0860c1032e6c6bc749150c6976942..a44c6795399acbba47505d7c6f476cb957f0bdf2 100644
--- a/modules/perception/obstacle/lidar/object_builder/min_box/BUILD
+++ b/modules/perception/obstacle/lidar/object_builder/min_box/BUILD
@@ -3,17 +3,17 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_object_builder_min_box",
+    name = "min_box",
     srcs = ["min_box.cc"],
     hdrs = ["min_box.h"],
     deps = [
         "//modules/common",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/lidar/interface",
         "@eigen",
     ],
 )
@@ -29,10 +29,10 @@ cc_test(
         "-lqhull",
     ],
     deps = [
-        ":perception_obstacle_lidar_object_builder_min_box",
-        "//modules/perception/common:perception_common",
+        ":min_box",
+        "//modules/perception/common",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
+        "//modules/perception/obstacle/common",
         "@gtest//:main",
     ],
 )
diff --git a/modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/BUILD b/modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/BUILD
index 8f407b46c91fef57b8b2c443456cccb5fd7b1732..43fa001af7d55922669cf60c862a1550f435874c 100644
--- a/modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/BUILD
+++ b/modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/BUILD
@@ -21,9 +21,9 @@ cc_library(
         "//modules/common",
         "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
-        "//modules/perception/obstacle/onboard:perception_obstacle_hdmapinput",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/lidar/interface",
+        "//modules/perception/obstacle/onboard:hdmapinput",
         "@eigen",
         "@pcl",
     ],
diff --git a/modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD b/modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD
index e4bf815f35a07f73ec5463420c1322a40bcfc41c..750367b49cc462e1ce203cf3199416a333f0f832 100644
--- a/modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD
+++ b/modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_segmention_cnnseg",
+    name = "cnnseg",
     srcs = ["cnn_segmentation.cc"],
     hdrs = ["cnn_segmentation.h"],
     deps = [
@@ -12,8 +12,8 @@ cc_library(
         "//modules/perception/lib/base",
         "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/lidar/interface",
         "//modules/perception/obstacle/lidar/segmentation/cnnseg:cnnseg_cluster2d",
         "//modules/perception/obstacle/lidar/segmentation/cnnseg:cnnseg_feature_generator",
         "//modules/perception/obstacle/lidar/segmentation/cnnseg:cnnseg_util",
@@ -47,8 +47,8 @@ cc_library(
     deps = [
         "//modules/common:log",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/common",
         "//modules/perception/obstacle/lidar/segmentation/cnnseg:cnnseg_util",
         "@caffe//:lib",
     ],
@@ -66,11 +66,11 @@ cc_test(
         "//modules/perception/conf:perception_config",
     ],
     deps = [
-        "perception_obstacle_lidar_segmention_cnnseg",
+        "cnnseg",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "@caffe//:lib",
         "@gtest//:main",
         "@opencv2//:core",
diff --git a/modules/perception/obstacle/lidar/tracker/hm_tracker/BUILD b/modules/perception/obstacle/lidar/tracker/hm_tracker/BUILD
index 16cc32418ad3b5dad9f87e4d887d23fda8f5b233..116b0dda11f505a31aa2d004e695a0898e9364dd 100644
--- a/modules/perception/obstacle/lidar/tracker/hm_tracker/BUILD
+++ b/modules/perception/obstacle/lidar/tracker/hm_tracker/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_tracker_hm_tracker",
+    name = "hm_tracker",
     srcs = [
         "feature_descriptor.cc",
         "hm_tracker.cc",
@@ -28,12 +28,12 @@ cc_library(
         "//modules/common",
         "//modules/common:log",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
-        "//modules/perception/obstacle/onboard:perception_obstacle_hdmapinput",
-        "@eigen//:eigen",
-        "@pcl//:pcl",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/lidar/interface",
+        "//modules/perception/obstacle/onboard:hdmapinput",
+        "@eigen",
+        "@pcl",
     ],
 )
 
@@ -52,12 +52,12 @@ cc_test(
         "-lqhull",
     ],
     deps = [
-        ":perception_obstacle_lidar_tracker_hm_tracker",
+        ":hm_tracker",
         "//modules/common:log",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/lidar/object_builder/min_box:perception_obstacle_lidar_object_builder_min_box",
+        "//modules/perception/obstacle/lidar/object_builder/min_box",
         "@gtest//:main",
-        "@pcl//:pcl",
+        "@pcl",
     ],
 )
 
diff --git a/modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/BUILD b/modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/BUILD
index 33ea0f64602dab43d0b590f308e03c42e9e49989..a0a3c2edd020f10af82a998e245d4f216fef789f 100644
--- a/modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/BUILD
+++ b/modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/BUILD
@@ -3,25 +3,25 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_type_fuser_sequence_type_fuser",
+    name = "sequence_type_fuser",
     srcs = [
         "sequence_type_fuser.cc",
-        "util.cc"
+        "util.cc",
     ],
     hdrs = [
         "sequence_type_fuser.h",
-        "util.h"
+        "util.h",
     ],
     deps = [
         "//modules/common",
         "//modules/common:log",
-        "//modules/perception/lib/config_manager",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
+        "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
-        "@eigen//:eigen",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/lidar/interface",
+        "@eigen",
     ],
 )
 
@@ -40,13 +40,13 @@ cc_test(
         "-lqhull",
     ],
     deps = [
-        ":perception_obstacle_lidar_type_fuser_sequence_type_fuser",
+        ":sequence_type_fuser",
         "//modules/common:log",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/lidar/object_builder/min_box:perception_obstacle_lidar_object_builder_min_box",
-        "//modules/perception/obstacle/lidar/tracker/hm_tracker:perception_obstacle_lidar_tracker_hm_tracker",
+        "//modules/perception/obstacle/lidar/object_builder/min_box",
+        "//modules/perception/obstacle/lidar/tracker/hm_tracker",
         "@gtest//:main",
-        "@pcl//:pcl",
+        "@pcl",
     ],
 )
 
diff --git a/modules/perception/obstacle/lidar/visualizer/opengl_visualizer/BUILD b/modules/perception/obstacle/lidar/visualizer/opengl_visualizer/BUILD
index b84020cd3374a808bfb3b5eb3ba7cafb9085479b..a5a59305f5f30c2836dbb884edabb68b39168d33 100644
--- a/modules/perception/obstacle/lidar/visualizer/opengl_visualizer/BUILD
+++ b/modules/perception/obstacle/lidar/visualizer/opengl_visualizer/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_lidar_opengl_visualizer",
+    name = "opengl_visualizer",
     srcs = [
         "camera.cc",
         "frame_content.cc",
@@ -24,13 +24,13 @@ cc_library(
         "//modules/common:log",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "@eigen//:eigen",
-        "@glew//:glew",
-        "@glfw//:glfw",
-        "@pcl//:pcl",
-        "@vtk//:vtk",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/common",
+        "@eigen",
+        "@glew",
+        "@glfw",
+        "@pcl",
+        "@vtk",
     ],
 )
 
diff --git a/modules/perception/obstacle/onboard/BUILD b/modules/perception/obstacle/onboard/BUILD
index d42b4779536c3da278f27cd475828526cf047603..b44c47c8258515109801ea5f939afe990ea8f8c1 100644
--- a/modules/perception/obstacle/onboard/BUILD
+++ b/modules/perception/obstacle/onboard/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_hdmapinput",
+    name = "hdmapinput",
     srcs = ["hdmap_input.cc"],
     hdrs = ["hdmap_input.h"],
     deps = [
@@ -12,31 +12,31 @@ cc_library(
         "//modules/common/configs:config_gflags",
         "//modules/map/hdmap",
         "//modules/map/hdmap:hdmap_util",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "@eigen",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_lidar_process",
+    name = "lidar_process",
     srcs = ["lidar_process.cc"],
     hdrs = ["lidar_process.h"],
     deps = [
-        ":perception_obstacle_hdmapinput",
+        ":hdmapinput",
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/lidar/dummy:perception_obstacle_lidar_dummy",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
-        "//modules/perception/obstacle/lidar/object_builder/min_box:perception_obstacle_lidar_object_builder_min_box",
+        "//modules/perception/obstacle/lidar/dummy",
+        "//modules/perception/obstacle/lidar/interface",
+        "//modules/perception/obstacle/lidar/object_builder/min_box",
         "//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter",
-        "//modules/perception/obstacle/lidar/segmentation/cnnseg:perception_obstacle_lidar_segmention_cnnseg",
-        "//modules/perception/obstacle/lidar/tracker/hm_tracker:perception_obstacle_lidar_tracker_hm_tracker",
-        "//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser:perception_obstacle_lidar_type_fuser_sequence_type_fuser",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
-        "//modules/perception/obstacle/radar/dummy:perception_obstacle_radar_dummy",
+        "//modules/perception/obstacle/lidar/segmentation/cnnseg",
+        "//modules/perception/obstacle/lidar/tracker/hm_tracker",
+        "//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
+        "//modules/perception/obstacle/radar/dummy",
         "@ros//:ros_common",
     ],
 )
@@ -51,17 +51,17 @@ cc_library(
         "object_shared_data.h",
     ],
     deps = [
-        ":perception_obstacle_hdmapinput",
+        ":hdmapinput",
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/lidar/dummy:perception_obstacle_lidar_dummy",
-        "//modules/perception/obstacle/lidar/interface:perception_obstacle_lidar_interface",
-        "//modules/perception/obstacle/lidar/object_builder/min_box:perception_obstacle_lidar_object_builder_min_box",
+        "//modules/perception/obstacle/lidar/dummy",
+        "//modules/perception/obstacle/lidar/interface",
+        "//modules/perception/obstacle/lidar/object_builder/min_box",
         "//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter",
-        "//modules/perception/obstacle/lidar/segmentation/cnnseg:perception_obstacle_lidar_segmention_cnnseg",
-        "//modules/perception/obstacle/lidar/tracker/hm_tracker:perception_obstacle_lidar_tracker_hm_tracker",
-        "//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser:perception_obstacle_lidar_type_fuser_sequence_type_fuser",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
+        "//modules/perception/obstacle/lidar/segmentation/cnnseg",
+        "//modules/perception/obstacle/lidar/tracker/hm_tracker",
+        "//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
         "//modules/perception/onboard:perception_onboard",
         "@ros//:ros_common",
     ],
@@ -77,20 +77,20 @@ cc_library(
         "radar_process_subnode.h",
     ],
     deps = [
-        ":perception_obstacle_hdmapinput",
+        ":hdmapinput",
         "//modules/common",
         "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
         "//modules/common/configs:config_gflags",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/obstacle/base",
         "//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
-        "//modules/perception/obstacle/radar/dummy:perception_obstacle_radar_dummy",
-        "//modules/perception/obstacle/radar/modest:perception_obstacle_radar_modest_modest_detector",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
+        "//modules/perception/obstacle/radar/dummy",
+        "//modules/perception/obstacle/radar/modest:modest_detector",
         "//modules/perception/onboard:perception_onboard",
         "@eigen",
         "@ros//:ros_common",
@@ -107,19 +107,19 @@ cc_library(
         "object_shared_data.h",
     ],
     deps = [
-        ":perception_obstacle_hdmapinput",
+        ":hdmapinput",
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/lib/config_manager",
         "//modules/perception/obstacle/fusion/probabilistic_fusion",
         "//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
         "//modules/perception/onboard:perception_onboard",
         "@ros//:ros_common",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_motion_manager_subnode",
+    name = "motion_manager_subnode",
     srcs = [
         "motion_manager_service.cc",
     ],
@@ -127,17 +127,16 @@ cc_library(
         "motion_manager_service.h",
     ],
     deps = [
-
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/lib/config_manager",
+        "//modules/perception/obstacle/camera/motionmanager",
         "//modules/perception/onboard:perception_onboard",
-        "//modules/perception/obstacle/camera/motionmanager:perception_obstacle_camera_motionmanager",
         "@ros//:ros_common",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_obstacle_perception",
+    name = "obstacle_perception",
     srcs = [
         "obstacle_perception.cc",
     ],
@@ -146,14 +145,14 @@ cc_library(
         "sensor_raw_frame.h",
     ],
     deps = [
-        ":perception_obstacle_hdmapinput",
+        ":hdmapinput",
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/lib/config_manager",
         "//modules/perception/obstacle/fusion/probabilistic_fusion",
         "//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
-        "//modules/perception/obstacle/onboard:perception_obstacle_lidar_process",
-        "//modules/perception/obstacle/radar/modest:perception_obstacle_radar_modest_modest_detector",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
+        "//modules/perception/obstacle/onboard:lidar_process",
+        "//modules/perception/obstacle/radar/modest:modest_detector",
         "//modules/perception/onboard:perception_onboard",
         "@ros//:ros_common",
     ],
@@ -170,8 +169,8 @@ cc_library(
         "fusion_shared_data.h",
     ],
     deps = [
+        "//modules/perception/obstacle/base",
         "//modules/perception/onboard:perception_onboard",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
     ],
 )
 
@@ -181,15 +180,16 @@ cc_library(
         "visualization_subnode.cc",
     ],
     hdrs = [
-        "visualization_subnode.h",
         "object_shared_data.h",
+        "visualization_subnode.h",
     ],
     deps = [
+        ":perception_obstacle_shared_data",
         "//modules/perception/lib/config_manager",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/common:util",
+        "//modules/perception/obstacle/camera/visualizer",
         "//modules/perception/onboard:perception_onboard",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        ":perception_obstacle_shared_data",
-        "//modules/perception/obstacle/camera/visualizer:perception_obstacle_camera_visualizer",
     ],
 )
 
@@ -204,14 +204,14 @@ cc_test(
         "//modules/perception:perception_data",
     ],
     deps = [
-        ":perception_obstacle_hdmapinput",
+        ":hdmapinput",
         "//modules/common/configs:config_gflags",
         "@gtest//:main",
     ],
 )
 
 cc_test(
-    name = "perception_obstacle_lidar_process_test",
+    name = "lidar_process_test",
     size = "small",
     srcs = [
         "lidar_process_test.cc",
@@ -221,7 +221,7 @@ cc_test(
         "//modules/perception:perception_data",
     ],
     deps = [
-        ":perception_obstacle_lidar_process",
+        ":lidar_process",
         "@gtest//:main",
     ],
 )
diff --git a/modules/perception/obstacle/radar/dummy/BUILD b/modules/perception/obstacle/radar/dummy/BUILD
index e4fa67007ab75dc50d823483154ff61d28618d91..daff6a402f4f994d3b20d69ce40e15fbeeb96efc 100644
--- a/modules/perception/obstacle/radar/dummy/BUILD
+++ b/modules/perception/obstacle/radar/dummy/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_radar_dummy",
+    name = "dummy",
     srcs = [
         "dummy_algorithms.cc",
     ],
@@ -12,8 +12,8 @@ cc_library(
     ],
     deps = [
         "//modules/common:log",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/radar/interface:perception_obstacle_radar_interface",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/radar/interface",
         "@eigen",
         "@pcl",
     ],
diff --git a/modules/perception/obstacle/radar/interface/BUILD b/modules/perception/obstacle/radar/interface/BUILD
index 64065a8a28d3fbf390b93f83a9927fcfa0f44fd5..dbcb74898181ed068c9c72733b4e6c8eea9216d5 100644
--- a/modules/perception/obstacle/radar/interface/BUILD
+++ b/modules/perception/obstacle/radar/interface/BUILD
@@ -3,15 +3,15 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_radar_interface",
+    name = "interface",
     srcs = [],
     hdrs = glob(["*.h"]),
     deps = [
         "//modules/drivers/proto:sensor_proto",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
-        "//modules/perception/obstacle/onboard:perception_obstacle_hdmapinput",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/onboard:hdmapinput",
         "@eigen",
     ],
 )
diff --git a/modules/perception/obstacle/radar/modest/BUILD b/modules/perception/obstacle/radar/modest/BUILD
index eb415e831eab3f137413925c445fbed7c23a0492..933bb23442d6ce23387723174b33e5e91e0c1c35 100644
--- a/modules/perception/obstacle/radar/modest/BUILD
+++ b/modules/perception/obstacle/radar/modest/BUILD
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_radar_modest_modest_detector",
+    name = "modest_detector",
     srcs = [
         "conti_radar_id_expansion.cc",
         "conti_radar_util.cc",
@@ -26,8 +26,8 @@ cc_library(
     deps = [
         "//modules/common:log",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/radar/interface:perception_obstacle_radar_interface",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/radar/interface",
         "@eigen",
         "@pcl",
     ],
@@ -40,10 +40,10 @@ cc_test(
         "conti_radar_id_expansion_test.cc",
     ],
     deps = [
+        ":modest_detector",
         "//external:gflags",
         "//modules/common:log",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/radar/modest:perception_obstacle_radar_modest_modest_detector",
         "@gtest",
         "@gtest//:main",
     ],
@@ -61,10 +61,10 @@ cc_test(
         "//modules/perception/conf:perception_config",
     ],
     deps = [
+        ":modest_detector",
         "//external:gflags",
         "//modules/common:log",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/radar/modest:perception_obstacle_radar_modest_modest_detector",
         "@gtest",
         "@gtest//:main",
     ],
@@ -82,10 +82,10 @@ cc_test(
         "//modules/perception/conf:perception_config",
     ],
     deps = [
+        ":modest_detector",
         "//external:gflags",
         "//modules/common:log",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/radar/modest:perception_obstacle_radar_modest_modest_detector",
         "@gtest",
         "@gtest//:main",
     ],
diff --git a/modules/perception/onboard/BUILD b/modules/perception/onboard/BUILD
index 1f5d3f932802fd64bd8f1a56ad4750e56de4d5cf..8f1931f260737430d103574885f90c3af10ab3e3 100644
--- a/modules/perception/onboard/BUILD
+++ b/modules/perception/onboard/BUILD
@@ -30,7 +30,7 @@ cc_library(
         "//modules/common/adapters:adapter_manager",
         "//modules/common/configs:config_gflags",
         "//modules/common/status",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/onboard/proto:dag_proto",
         "@eigen",
diff --git a/modules/perception/tool/export_sensor_data/BUILD b/modules/perception/tool/export_sensor_data/BUILD
index e63ac2a00fe29b96799282c26bdee57a930c9af3..a6fd8136ab251bae1afa8f9262da8d6f4bf06912 100644
--- a/modules/perception/tool/export_sensor_data/BUILD
+++ b/modules/perception/tool/export_sensor_data/BUILD
@@ -13,10 +13,10 @@ cc_library(
         "//modules/common:apollo_app",
         "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/radar/modest:perception_obstacle_radar_modest_modest_detector",
+        "//modules/perception/obstacle/radar/modest:modest_detector",
         "//modules/perception/onboard:perception_onboard",
         "@pcl",
         "@ros//:ros_common",
@@ -28,13 +28,13 @@ cc_binary(
     srcs = ["export_sensor_data_main.cc"],
     data = [
         "//modules/perception/conf:perception_adapter_manager_config",
-        "//modules/perception/tool/export_sensor_data/conf:perception_tool_export_sensor_data_config",
+        "//modules/perception/tool/export_sensor_data/conf:config",
     ],
     deps = [
         ":export_sensor_data_lib",
         "//external:gflags",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
         "//modules/perception/proto:perception_proto",
diff --git a/modules/perception/tool/export_sensor_data/conf/BUILD b/modules/perception/tool/export_sensor_data/conf/BUILD
index 4e941eaed651bd172bc3d29fc9b356bd2e4ba709..da43fb8bf0211b6ac6ad5398d0b6d4f67a2830c8 100644
--- a/modules/perception/tool/export_sensor_data/conf/BUILD
+++ b/modules/perception/tool/export_sensor_data/conf/BUILD
@@ -1,7 +1,7 @@
 package(default_visibility = ["//visibility:public"])
 
 filegroup(
-    name = "perception_tool_export_sensor_data_config",
+    name = "config",
     srcs = [
         "export_sensor_data.flag",
     ],
diff --git a/modules/perception/tool/offline_visualizer_tool/BUILD b/modules/perception/tool/offline_visualizer_tool/BUILD
index 61c8a079a802d024853da7670804733b8688967e..669999ead6e38536ec7152ceec82d15c132cca3e 100644
--- a/modules/perception/tool/offline_visualizer_tool/BUILD
+++ b/modules/perception/tool/offline_visualizer_tool/BUILD
@@ -7,19 +7,19 @@ cc_binary(
     srcs = ["offline_lidar_visualizer_tool.cc"],
     data = [
         "//modules/perception:perception_model",
-        "//modules/perception/tool/offline_visualizer_tool/conf:perception_tool_config",
+        "//modules/perception/tool/offline_visualizer_tool/conf:config",
     ],
     linkstatic = 0,
     deps = [
         "//modules/common",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
-        "//modules/perception/obstacle/onboard:perception_obstacle_lidar_process",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
+        "//modules/perception/obstacle/onboard:lidar_process",
         "@eigen",
         "@glew",
         "@glfw",
@@ -32,20 +32,20 @@ cc_binary(
     srcs = ["offline_sequential_obstacle_perception_test.cc"],
     data = [
         "//modules/perception:perception_model",
-        "//modules/perception/tool/offline_visualizer_tool/conf:perception_tool_config",
+        "//modules/perception/tool/offline_visualizer_tool/conf:config",
     ],
     linkstatic = 0,
     deps = [
         "//modules/common",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/lib/base",
         "//modules/perception/lib/config_manager",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
-        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer",
-        "//modules/perception/obstacle/onboard:perception_obstacle_lidar_process",
-        "//modules/perception/obstacle/onboard:perception_obstacle_obstacle_perception",
+        "//modules/perception/obstacle/common",
+        "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
+        "//modules/perception/obstacle/onboard:lidar_process",
+        "//modules/perception/obstacle/onboard:obstacle_perception",
         "@eigen",
         "@glew",
         "@glfw",
diff --git a/modules/perception/tool/offline_visualizer_tool/conf/BUILD b/modules/perception/tool/offline_visualizer_tool/conf/BUILD
index 1e3de3a6dc3394a728c3005250412434f38e5e88..1a859827ba1dc57112687fa35f2d48fcecad77dd 100644
--- a/modules/perception/tool/offline_visualizer_tool/conf/BUILD
+++ b/modules/perception/tool/offline_visualizer_tool/conf/BUILD
@@ -1,7 +1,7 @@
 package(default_visibility = ["//visibility:public"])
 
 filegroup(
-    name = "perception_tool_config",
+    name = "config",
     srcs = [
         "config_manager.config",
         "offline_lidar_perception_test.flag",
diff --git a/modules/perception/traffic_light/rectify/BUILD b/modules/perception/traffic_light/rectify/BUILD
index fdb11494e74065b80b3d696782045767266850b3..83a7eb0695188a001e378d6c1ffe48c7e5b1df5c 100644
--- a/modules/perception/traffic_light/rectify/BUILD
+++ b/modules/perception/traffic_light/rectify/BUILD
@@ -22,7 +22,7 @@ cc_library(
         "//modules/common/proto:header_proto",
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/obstacle/common:perception_obstacle_common",
+        "//modules/perception/obstacle/common",
         "//modules/perception/proto:perception_proto",
         "//modules/perception/traffic_light/base:perception_traffic_light_base",
         "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
@@ -44,8 +44,8 @@ cc_test(
     deps = [
         "perception_traffic_light_rectify",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/common",
+        "//modules/perception/obstacle/base",
         "@caffe//:lib",
         "@gtest//:main",
         "@opencv2//:core",
diff --git a/modules/perception/traffic_light/reviser/BUILD b/modules/perception/traffic_light/reviser/BUILD
index ca52a5f46af294ce24933cdd1a5a73cd40be9a87..9f0d58f00e6fc7854cf5e68d6fd943afcd41cd68 100644
--- a/modules/perception/traffic_light/reviser/BUILD
+++ b/modules/perception/traffic_light/reviser/BUILD
@@ -36,8 +36,8 @@ cc_test(
     deps = [
         "perception_traffic_light_reviser",
         "//modules/common:log",
-        "//modules/perception/common:perception_common",
-        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "//modules/perception/common",
+        "//modules/perception/obstacle/base",
         "@caffe//:lib",
         "@gtest//:main",
         "@opencv2//:core",
diff --git a/modules/perception/traffic_light/visualizer/BUILD b/modules/perception/traffic_light/visualizer/BUILD
index a73153efe224b08658600e88a2330dc6a2edb490..88ef2136249e9c8f3093bdabadec3d7f5294fd7a 100644
--- a/modules/perception/traffic_light/visualizer/BUILD
+++ b/modules/perception/traffic_light/visualizer/BUILD
@@ -15,7 +15,7 @@ cc_binary(
         "//modules/perception/traffic_light/base:perception_traffic_light_base",
         "//modules/perception/traffic_light/util:perception_traffic_light_util",
         "//modules/perception/lib/base",
-        "//modules/perception/common:perception_common",
+        "//modules/perception/common",
         "//modules/perception/proto:perception_proto",
         "@ros//:ros_common",
     ],