diff --git a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
index f4f3cd48c1187..1f63ff28401f6 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
@@ -68,9 +68,6 @@ class ObjectLaneletFilterNode : public rclcpp::Node
 
   Filter_target_label filter_target_;
 
-  bool transformDetectedObjects(
-    const autoware_auto_perception_msgs::msg::DetectedObjects &, const std::string &,
-    const tf2_ros::Buffer &, autoware_auto_perception_msgs::msg::DetectedObjects &);
   LinearRing2d getConvexHull(const autoware_auto_perception_msgs::msg::DetectedObjects &);
   lanelet::ConstLanelets getIntersectedLanelets(
     const LinearRing2d &, const lanelet::ConstLanelets &);
diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml
index afba244eb3cb7..b1317d9dcb90d 100644
--- a/perception/detected_object_validation/package.xml
+++ b/perception/detected_object_validation/package.xml
@@ -19,6 +19,7 @@
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
   <depend>pcl_conversions</depend>
+  <depend>perception_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index 4d5f794324195..0c9cacf178292 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -14,6 +14,7 @@
 
 #include "detected_object_filter/object_lanelet_filter.hpp"
 
+#include <perception_utils/perception_utils.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
@@ -22,21 +23,6 @@
 
 #include <lanelet2_core/geometry/Polygon.h>
 
-boost::optional<geometry_msgs::msg::Transform> getTransform(
-  const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id,
-  const std::string & target_frame_id, const rclcpp::Time & time)
-{
-  try {
-    geometry_msgs::msg::TransformStamped self_transform_stamped;
-    self_transform_stamped = tf_buffer.lookupTransform(
-      /*target*/ target_frame_id, /*src*/ source_frame_id, time,
-      rclcpp::Duration::from_seconds(0.5));
-    return self_transform_stamped.transform;
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_WARN_STREAM(rclcpp::get_logger("object_lanelet_filter"), ex.what());
-    return boost::none;
-  }
-}
 namespace object_lanelet_filter
 {
 ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & node_options)
@@ -91,7 +77,7 @@ void ObjectLaneletFilterNode::objectCallback(
     return;
   }
   autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects;
-  if (!transformDetectedObjects(*input_msg, "map", tf_buffer_, transformed_objects)) {
+  if (!perception_utils::transformObjects(*input_msg, "map", tf_buffer_, transformed_objects)) {
     RCLCPP_ERROR(get_logger(), "Failed transform to map.");
     return;
   }
@@ -131,36 +117,6 @@ void ObjectLaneletFilterNode::objectCallback(
   object_pub_->publish(output_object_msg);
 }
 
-bool ObjectLaneletFilterNode::transformDetectedObjects(
-  const autoware_auto_perception_msgs::msg::DetectedObjects & input_msg,
-  const std::string & target_frame_id, const tf2_ros::Buffer & tf_buffer,
-  autoware_auto_perception_msgs::msg::DetectedObjects & output_msg)
-{
-  output_msg = input_msg;
-
-  /* transform to world coordinate */
-  if (input_msg.header.frame_id != target_frame_id) {
-    output_msg.header.frame_id = target_frame_id;
-    tf2::Transform tf_target2objects_world;
-    tf2::Transform tf_target2objects;
-    tf2::Transform tf_objects_world2objects;
-    {
-      const auto ros_target2objects_world =
-        getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp);
-      if (!ros_target2objects_world) {
-        return false;
-      }
-      tf2::fromMsg(*ros_target2objects_world, tf_target2objects_world);
-    }
-    for (auto & object : output_msg.objects) {
-      tf2::fromMsg(object.kinematics.pose_with_covariance.pose, tf_objects_world2objects);
-      tf_target2objects = tf_target2objects_world * tf_objects_world2objects;
-      tf2::toMsg(tf_target2objects, object.kinematics.pose_with_covariance.pose);
-    }
-  }
-  return true;
-}
-
 LinearRing2d ObjectLaneletFilterNode::getConvexHull(
   const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects)
 {
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 68c4d20010916..5789b1de23339 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -14,6 +14,7 @@
 
 #include "obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
+#include <perception_utils/perception_utils.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <pcl/filters/crop_hull.h>
@@ -34,54 +35,6 @@
 
 namespace
 {
-std::optional<geometry_msgs::msg::Transform> getTransform(
-  const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id,
-  const std::string & target_frame_id, const rclcpp::Time & time)
-{
-  try {
-    geometry_msgs::msg::TransformStamped self_transform_stamped;
-    self_transform_stamped = tf_buffer.lookupTransform(
-      /*target*/ target_frame_id, /*src*/ source_frame_id, time,
-      rclcpp::Duration::from_seconds(0.5));
-    return self_transform_stamped.transform;
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_WARN_STREAM(rclcpp::get_logger("obstacle_pointcloud_based_validator"), ex.what());
-    return std::nullopt;
-  }
-}
-
-bool transformDetectedObjects(
-  const autoware_auto_perception_msgs::msg::DetectedObjects & input_msg,
-  const std::string & target_frame_id, const tf2_ros::Buffer & tf_buffer,
-  autoware_auto_perception_msgs::msg::DetectedObjects & output_msg)
-{
-  output_msg = input_msg;
-
-  /* transform to world coordinate */
-  if (input_msg.header.frame_id != target_frame_id) {
-    output_msg.header.frame_id = target_frame_id;
-    tf2::Transform tf_target2objects_world;
-    tf2::Transform tf_target2objects;
-    tf2::Transform tf_objects_world2objects;
-    {
-      const auto ros_target2objects_world =
-        getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp);
-      if (!ros_target2objects_world) {
-        return false;
-      }
-      tf2::fromMsg(*ros_target2objects_world, tf_target2objects_world);
-    }
-    for (size_t i = 0; i < output_msg.objects.size(); ++i) {
-      tf2::fromMsg(
-        output_msg.objects.at(i).kinematics.pose_with_covariance.pose, tf_objects_world2objects);
-      tf_target2objects = tf_target2objects_world * tf_objects_world2objects;
-      tf2::toMsg(tf_target2objects, output_msg.objects.at(i).kinematics.pose_with_covariance.pose);
-      // Note: Covariance is not transformed.
-    }
-  }
-  return true;
-}
-
 inline pcl::PointXY toPCL(const double x, const double y)
 {
   pcl::PointXY pcl_point;
@@ -152,7 +105,7 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
 
   // Transform to pointcloud frame
   autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects;
-  if (!transformDetectedObjects(
+  if (!perception_utils::transformObjects(
         *input_objects, input_obstacle_pointcloud->header.frame_id, tf_buffer_,
         transformed_objects)) {
     // objects_pub_->publish(*input_objects);
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 e66070613a98a..dcaf137a15c16 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -14,6 +14,7 @@
 
 #include "occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
 
+#include <perception_utils/perception_utils.hpp>
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <boost/optional.hpp>
@@ -28,58 +29,6 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-namespace
-{
-boost::optional<geometry_msgs::msg::Transform> getTransform(
-  const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id,
-  const std::string & target_frame_id, const rclcpp::Time & time)
-{
-  try {
-    geometry_msgs::msg::TransformStamped self_transform_stamped;
-    self_transform_stamped = tf_buffer.lookupTransform(
-      /*target*/ target_frame_id, /*src*/ source_frame_id, time,
-      rclcpp::Duration::from_seconds(0.5));
-    return self_transform_stamped.transform;
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_WARN_STREAM(rclcpp::get_logger("multi_object_tracker"), ex.what());
-    return boost::none;
-  }
-}
-
-bool transformDetectedObjects(
-  const autoware_auto_perception_msgs::msg::DetectedObjects & input_msg,
-  const std::string & target_frame_id, const tf2_ros::Buffer & tf_buffer,
-  autoware_auto_perception_msgs::msg::DetectedObjects & output_msg)
-{
-  output_msg = input_msg;
-
-  /* transform to world coordinate */
-  if (input_msg.header.frame_id != target_frame_id) {
-    output_msg.header.frame_id = target_frame_id;
-    tf2::Transform tf_target2objects_world;
-    tf2::Transform tf_target2objects;
-    tf2::Transform tf_objects_world2objects;
-    {
-      const auto ros_target2objects_world =
-        getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp);
-      if (!ros_target2objects_world) {
-        return false;
-      }
-      tf2::fromMsg(*ros_target2objects_world, tf_target2objects_world);
-    }
-    for (size_t i = 0; i < output_msg.objects.size(); ++i) {
-      tf2::fromMsg(
-        output_msg.objects.at(i).kinematics.pose_with_covariance.pose, tf_objects_world2objects);
-      tf_target2objects = tf_target2objects_world * tf_objects_world2objects;
-      tf2::toMsg(tf_target2objects, output_msg.objects.at(i).kinematics.pose_with_covariance.pose);
-      // Note: Covariance is not transformed.
-    }
-  }
-  return true;
-}
-
-}  // namespace
-
 namespace occupancy_grid_based_validator
 {
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
@@ -113,7 +62,7 @@ void OccupancyGridBasedValidator::onObjectsAndOccGrid(
 
   // Transform to occ grid frame
   autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects;
-  if (!transformDetectedObjects(
+  if (!perception_utils::transformObjects(
         *input_objects, input_occ_grid->header.frame_id, tf_buffer_, transformed_objects))
     return;