diff --git a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
similarity index 97%
rename from perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
rename to perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
index ae6162542a1c3..435c9fbc3d0ea 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
@@ -15,7 +15,7 @@
 #ifndef DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
 #define DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
diff --git a/perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
similarity index 97%
rename from perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp
rename to perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
index b9384e0f70379..50f435b015a77 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
@@ -15,7 +15,7 @@
 #ifndef DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
 #define DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
similarity index 100%
rename from perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
rename to perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
similarity index 98%
rename from perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
rename to perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index e7df2c409b18f..563e13ed29015 100644
--- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -15,7 +15,7 @@
 #ifndef OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 #define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 
-#include "obstacle_pointcloud_based_validator/debugger.hpp"
+#include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
similarity index 100%
rename from perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
rename to perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
diff --git a/perception/detected_object_validation/include/utils/utils.hpp b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
similarity index 100%
rename from perception/detected_object_validation/include/utils/utils.hpp
rename to perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index fe8de37c778ac..cd16d414425cb 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "detected_object_filter/object_lanelet_filter.hpp"
+#include "detected_object_validation/detected_object_filter/object_lanelet_filter.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/object_position_filter.cpp
index 0f59e60d57d55..a509fc7571dd5 100644
--- a/perception/detected_object_validation/src/object_position_filter.cpp
+++ b/perception/detected_object_validation/src/object_position_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "detected_object_filter/object_position_filter.hpp"
+#include "detected_object_validation/detected_object_filter/object_position_filter.hpp"
 
 namespace object_position_filter
 {
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
index 3249581513dd9..d903a9ca3bb41 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
+#include "detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
diff --git a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
index 948f040d7ebde..80e4dc66d35c2 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
+#include "detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
 
 #include <object_recognition_utils/object_classification.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
diff --git a/perception/detected_object_validation/src/utils.cpp b/perception/detected_object_validation/src/utils.cpp
index d8f438e265c3a..53b21ee7ff5b6 100644
--- a/perception/detected_object_validation/src/utils.cpp
+++ b/perception/detected_object_validation/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>