diff --git a/common/perception_utils/CMakeLists.txt b/perception/perception_utils/CMakeLists.txt
similarity index 100%
rename from common/perception_utils/CMakeLists.txt
rename to perception/perception_utils/CMakeLists.txt
diff --git a/common/perception_utils/README.md b/perception/perception_utils/README.md
similarity index 100%
rename from common/perception_utils/README.md
rename to perception/perception_utils/README.md
diff --git a/common/perception_utils/include/perception_utils/prime_synchronizer.hpp b/perception/perception_utils/include/perception_utils/prime_synchronizer.hpp
similarity index 100%
rename from common/perception_utils/include/perception_utils/prime_synchronizer.hpp
rename to perception/perception_utils/include/perception_utils/prime_synchronizer.hpp
diff --git a/common/perception_utils/include/perception_utils/run_length_encoder.hpp b/perception/perception_utils/include/perception_utils/run_length_encoder.hpp
similarity index 100%
rename from common/perception_utils/include/perception_utils/run_length_encoder.hpp
rename to perception/perception_utils/include/perception_utils/run_length_encoder.hpp
diff --git a/common/perception_utils/package.xml b/perception/perception_utils/package.xml
similarity index 100%
rename from common/perception_utils/package.xml
rename to perception/perception_utils/package.xml
diff --git a/common/perception_utils/src/run_length_encoder.cpp b/perception/perception_utils/src/run_length_encoder.cpp
similarity index 100%
rename from common/perception_utils/src/run_length_encoder.cpp
rename to perception/perception_utils/src/run_length_encoder.cpp