diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index 3cb9c07e45008..cec59173a2e7d 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -23,6 +23,7 @@ include_directories(
 
 ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/filter.cpp
+  src/utility/utilities.cpp
   src/concatenate_data/concatenate_data_nodelet.cpp
   src/crop_box_filter/crop_box_filter_nodelet.cpp
   src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/no_detection_area_filter/no_detection_area_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/no_detection_area_filter/no_detection_area_filter.hpp
index c02e41a1babe0..ec30907924ebf 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/no_detection_area_filter/no_detection_area_filter.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/no_detection_area_filter/no_detection_area_filter.hpp
@@ -16,6 +16,7 @@
 #define POINTCLOUD_PREPROCESSOR__NO_DETECTION_AREA_FILTER__NO_DETECTION_AREA_FILTER_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
+#include "pointcloud_preprocessor/utility/utilities.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp
index 91d2875ac2afc..36668f6a45bd3 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/polygon_remover/polygon_remover.hpp
@@ -16,6 +16,7 @@
 #define POINTCLOUD_PREPROCESSOR__POLYGON_REMOVER__POLYGON_REMOVER_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
+#include "pointcloud_preprocessor/utility/utilities.hpp"
 
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp
new file mode 100644
index 0000000000000..d28b90bce185a
--- /dev/null
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/utility/utilities.hpp
@@ -0,0 +1,62 @@
+// Copyright 2022 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef POINTCLOUD_PREPROCESSOR__UTILITY__UTILITIES_HPP_
+#define POINTCLOUD_PREPROCESSOR__UTILITY__UTILITIES_HPP_
+
+#include <geometry_msgs/msg/polygon.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+
+#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
+#include <CGAL/Polygon_2_algorithms.h>
+#include <lanelet2_core/geometry/Polygon.h>
+#include <pcl/pcl_base.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+
+#include <vector>
+
+using K = CGAL::Exact_predicates_inexact_constructions_kernel;
+using PointCgal = K::Point_2;
+
+namespace pointcloud_preprocessor::utils
+{
+/**
+ * @brief convert ROS polygon to CGAL polygon
+ */
+std::vector<PointCgal> to_cgal_polygon(
+  const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in);
+
+/**
+ * @brief convert lanelet polygon to CGAL polygon
+ */
+std::vector<PointCgal> to_cgal_polygon(const lanelet::BasicPolygon2d & polygon_in);
+
+/**
+ * @brief remove points in the given polygon
+ */
+sensor_msgs::msg::PointCloud2 remove_polygon_cgal_from_cloud(
+  const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud_in_ptr,
+  const std::vector<PointCgal> & polyline_polygon);
+
+/**
+ * @brief remove points in the given polygon
+ */
+pcl::PointCloud<pcl::PointXYZ> remove_polygon_cgal_from_cloud(
+  const pcl::PointCloud<pcl::PointXYZ> & cloud_in, const std::vector<PointCgal> & polyline_polygon);
+
+}  // namespace pointcloud_preprocessor::utils
+
+#endif  // POINTCLOUD_PREPROCESSOR__UTILITY__UTILITIES_HPP_
diff --git a/sensing/pointcloud_preprocessor/src/no_detection_area_filter/no_detection_area_filter.cpp b/sensing/pointcloud_preprocessor/src/no_detection_area_filter/no_detection_area_filter.cpp
index 5805c8e5c80c7..1b717339bac75 100644
--- a/sensing/pointcloud_preprocessor/src/no_detection_area_filter/no_detection_area_filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/no_detection_area_filter/no_detection_area_filter.cpp
@@ -18,17 +18,6 @@
 
 namespace
 {
-bool pointWithinLanelets(const Point2d & point, const lanelet::ConstPolygons3d & lanelets)
-{
-  for (const auto & lanelet : lanelets) {
-    if (boost::geometry::within(point, lanelet::utils::to2D(lanelet).basicPolygon())) {
-      return true;
-    }
-  }
-
-  return false;
-}
-
 tier4_autoware_utils::Box2d calcBoundingBox(
   const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & input_cloud)
 {
@@ -53,17 +42,15 @@ lanelet::ConstPolygons3d calcIntersectedPolygons(
 }
 
 pcl::PointCloud<pcl::PointXYZ> removePointsWithinPolygons(
-  const lanelet::ConstPolygons3d & polygons, const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud)
+  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud_in, const lanelet::ConstPolygons3d & polygons)
 {
-  pcl::PointCloud<pcl::PointXYZ> filtered_cloud;
-  filtered_cloud.header = cloud->header;
-
-  for (const auto & p : cloud->points) {
-    if (pointWithinLanelets(Point2d(p.x, p.y), polygons)) {
-      continue;
-    }
+  pcl::PointCloud<pcl::PointXYZ> filtered_cloud = *cloud_in;
 
-    filtered_cloud.points.push_back(p);
+  for (const auto & polygon : polygons) {
+    const auto lanelet_poly = lanelet::utils::to2D(polygon).basicPolygon();
+    const auto cgal_poly = pointcloud_preprocessor::utils::to_cgal_polygon(lanelet_poly);
+    filtered_cloud =
+      pointcloud_preprocessor::utils::remove_polygon_cgal_from_cloud(filtered_cloud, cgal_poly);
   }
 
   return filtered_cloud;
@@ -108,7 +95,7 @@ void NoDetectionAreaFilterComponent::filter(
     calcIntersectedPolygons(bounding_box, no_detection_area_lanelets_);
 
   // filter pointcloud by lanelet
-  const auto filtered_pc = removePointsWithinPolygons(intersected_lanelets, pc_input);
+  const auto filtered_pc = removePointsWithinPolygons(pc_input, intersected_lanelets);
 
   // convert to ROS message
   pcl::toROSMsg(filtered_pc, output);
diff --git a/sensing/pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp b/sensing/pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp
index b88ba9c7f71fc..61782464f06b0 100644
--- a/sensing/pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp
+++ b/sensing/pointcloud_preprocessor/src/polygon_remover/polygon_remover.cpp
@@ -70,7 +70,7 @@ void PolygonRemoverComponent::filter(
 void PolygonRemoverComponent::update_polygon(
   const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in)
 {
-  polygon_cgal_ = polygon_geometry_to_cgal(polygon_in);
+  polygon_cgal_ = pointcloud_preprocessor::utils::to_cgal_polygon(polygon_in);
   if (will_visualize_) {
     marker_.ns = "";
     marker_.id = 0;
@@ -131,49 +131,7 @@ sensor_msgs::msg::PointCloud2 PolygonRemoverComponent::remove_updated_polygon_fr
     throw std::runtime_error("Polygon is not initialized. Please use `update_polygon` first.");
   }
 
-  return remove_polygon_cgal_from_cloud(cloud_in, polygon_cgal_);
-}
-
-sensor_msgs::msg::PointCloud2 PolygonRemoverComponent::remove_polygon_cgal_from_cloud(
-  const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud_in_ptr,
-  const std::vector<PointCgal> & polyline_polygon)
-{
-  sensor_msgs::msg::PointCloud2 output;
-  pcl::PointCloud<pcl::PointXYZ> pcl_output;
-
-  sensor_msgs::msg::PointCloud2 transformed_cluster = *cloud_in_ptr;
-
-  for (sensor_msgs::PointCloud2ConstIterator<float> iter_x(transformed_cluster, "x"),
-       iter_y(transformed_cluster, "y"), iter_z(transformed_cluster, "z");
-       iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
-    if (
-      CGAL::bounded_side_2(
-        polyline_polygon.begin(), polyline_polygon.end(), PointCgal(*iter_x, *iter_y), K()) ==
-      CGAL::ON_UNBOUNDED_SIDE) {
-      pcl::PointXYZ p;
-      p.x = *iter_x;
-      p.y = *iter_y;
-      p.z = *iter_z;
-      pcl_output.emplace_back(p);
-    }
-  }
-  pcl::toROSMsg(pcl_output, output);
-  output.header = cloud_in_ptr->header;
-  return output;
-}
-std::vector<PointCgal> PolygonRemoverComponent::polygon_geometry_to_cgal(
-  const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in)
-{
-  std::vector<PointCgal> polyline_polygon;
-  if (polygon_in->points.size() < 3) {
-    throw std::length_error("Polygon vertex count should be larger than 2.");
-  }
-  const auto & vertices_in = polygon_in->points;
-  polyline_polygon.resize(vertices_in.size());
-  std::transform(
-    polygon_in->points.begin(), polygon_in->points.end(), polyline_polygon.begin(),
-    [](const geometry_msgs::msg::Point32 & p_in) { return PointCgal(p_in.x, p_in.y); });
-  return polyline_polygon;
+  return pointcloud_preprocessor::utils::remove_polygon_cgal_from_cloud(cloud_in, polygon_cgal_);
 }
 }  // namespace pointcloud_preprocessor
 
diff --git a/sensing/pointcloud_preprocessor/src/utility/utilities.cpp b/sensing/pointcloud_preprocessor/src/utility/utilities.cpp
new file mode 100644
index 0000000000000..794f5cbe109c1
--- /dev/null
+++ b/sensing/pointcloud_preprocessor/src/utility/utilities.cpp
@@ -0,0 +1,97 @@
+// Copyright 2022 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "pointcloud_preprocessor/utility/utilities.hpp"
+
+namespace pointcloud_preprocessor::utils
+{
+std::vector<PointCgal> to_cgal_polygon(
+  const geometry_msgs::msg::Polygon::ConstSharedPtr & polygon_in)
+{
+  std::vector<PointCgal> polyline_polygon;
+  if (polygon_in->points.size() < 3) {
+    throw std::length_error("Polygon vertex count should be larger than 2.");
+  }
+
+  const auto & vertices_in = polygon_in->points;
+  polyline_polygon.resize(vertices_in.size());
+  std::transform(
+    polygon_in->points.begin(), polygon_in->points.end(), polyline_polygon.begin(),
+    [](const geometry_msgs::msg::Point32 & p_in) { return PointCgal(p_in.x, p_in.y); });
+  return polyline_polygon;
+}
+
+std::vector<PointCgal> to_cgal_polygon(const lanelet::BasicPolygon2d & polygon_in)
+{
+  std::vector<PointCgal> polyline_polygon;
+  if (polygon_in.size() < 3) {
+    throw std::length_error("Polygon vertex count should be larger than 2.");
+  }
+
+  const auto & vertices_in = polygon_in;
+  polyline_polygon.resize(vertices_in.size());
+  std::transform(
+    polygon_in.cbegin(), polygon_in.cend(), polyline_polygon.begin(),
+    [](const Eigen::Matrix<double, 2, 1> & p_in) { return PointCgal(p_in.x(), p_in.y()); });
+  return polyline_polygon;
+}
+
+sensor_msgs::msg::PointCloud2 remove_polygon_cgal_from_cloud(
+  const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud_in_ptr,
+  const std::vector<PointCgal> & polyline_polygon)
+{
+  sensor_msgs::msg::PointCloud2 output;
+  pcl::PointCloud<pcl::PointXYZ> pcl_output;
+
+  sensor_msgs::msg::PointCloud2 transformed_cluster = *cloud_in_ptr;
+
+  for (sensor_msgs::PointCloud2ConstIterator<float> iter_x(transformed_cluster, "x"),
+       iter_y(transformed_cluster, "y"), iter_z(transformed_cluster, "z");
+       iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
+    // check if the point is inside the polygon
+    if (
+      CGAL::bounded_side_2(
+        polyline_polygon.begin(), polyline_polygon.end(), PointCgal(*iter_x, *iter_y), K()) ==
+      CGAL::ON_UNBOUNDED_SIDE) {
+      pcl::PointXYZ p;
+      p.x = *iter_x;
+      p.y = *iter_y;
+      p.z = *iter_z;
+      pcl_output.emplace_back(p);
+    }
+  }
+  pcl::toROSMsg(pcl_output, output);
+  output.header = cloud_in_ptr->header;
+  return output;
+}
+
+pcl::PointCloud<pcl::PointXYZ> remove_polygon_cgal_from_cloud(
+  const pcl::PointCloud<pcl::PointXYZ> & cloud_in, const std::vector<PointCgal> & polyline_polygon)
+{
+  pcl::PointCloud<pcl::PointXYZ> pcl_output;
+
+  for (const auto & p : cloud_in) {
+    // check if the point is inside the polygon
+    if (
+      CGAL::bounded_side_2(
+        polyline_polygon.begin(), polyline_polygon.end(), PointCgal(p.x, p.y), K()) ==
+      CGAL::ON_UNBOUNDED_SIDE) {
+      pcl_output.emplace_back(p);
+    }
+  }
+
+  return pcl_output;
+}  // namespace
+
+}  // namespace pointcloud_preprocessor::utils