diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt
index 396a22beb54d7..5cc1f7bad104b 100644
--- a/perception/compare_map_segmentation/CMakeLists.txt
+++ b/perception/compare_map_segmentation/CMakeLists.txt
@@ -21,7 +21,7 @@ include_directories(
   ${GRID_MAP_INCLUDE_DIR}
 )
 
-ament_auto_add_library(compare_map_segmentation SHARED
+add_library(compare_map_segmentation SHARED
   src/distance_based_compare_map_filter_nodelet.cpp
   src/voxel_based_approximate_compare_map_filter_nodelet.cpp
   src/voxel_based_compare_map_filter_nodelet.cpp
@@ -30,11 +30,22 @@ ament_auto_add_library(compare_map_segmentation SHARED
 )
 
 target_link_libraries(compare_map_segmentation
+  pointcloud_preprocessor::pointcloud_preprocessor_filter_base
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
 )
 
+ament_target_dependencies(compare_map_segmentation
+  grid_map_pcl
+  grid_map_ros
+  pcl_conversions
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  tier4_autoware_utils
+)
+
 if(OPENMP_FOUND)
   set_target_properties(compare_map_segmentation PROPERTIES
     COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
@@ -68,6 +79,13 @@ rclcpp_components_register_node(compare_map_segmentation
   PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent"
   EXECUTABLE compare_elevation_map_filter_node)
 
+install(
+  TARGETS compare_map_segmentation
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
 )
diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index bb79ff4089082..0989e52b4c4cb 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -21,8 +21,26 @@ include_directories(
   ${GRID_MAP_INCLUDE_DIR}
 )
 
-ament_auto_add_library(pointcloud_preprocessor_filter SHARED
+add_library(pointcloud_preprocessor_filter_base SHARED
   src/filter.cpp
+)
+
+target_include_directories(pointcloud_preprocessor_filter_base PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+
+ament_target_dependencies(pointcloud_preprocessor_filter_base
+  message_filters
+  pcl_conversions
+  rclcpp
+  sensor_msgs
+  tf2_ros
+  tier4_autoware_utils
+  pcl_ros
+)
+
+ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   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
@@ -43,6 +61,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
 )
 
 target_link_libraries(pointcloud_preprocessor_filter
+  pointcloud_preprocessor_filter_base
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
@@ -145,6 +164,25 @@ rclcpp_components_register_node(pointcloud_preprocessor_filter
 set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
 target_link_libraries(polygon_remover_node gmp CGAL CGAL::CGAL CGAL::CGAL_Core)
 
+# ========== Vector Map Inside Area Filter ===========
+rclcpp_components_register_node(pointcloud_preprocessor_filter
+  PLUGIN "pointcloud_preprocessor::VectorMapInsideAreaFilterComponent"
+  EXECUTABLE vector_map_inside_area_filter_node)
+
+install(
+  TARGETS pointcloud_preprocessor_filter_base EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+ament_export_targets(export_${PROJECT_NAME})
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
 )