diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index d009a73809074..07b35e3e33045 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -91,7 +91,7 @@ localization/autoware_pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tie
 localization/autoware_pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml
index 7f33fb0b946d1..e0f4c9319d0d5 100644
--- a/localization/autoware_ekf_localizer/package.xml
+++ b/localization/autoware_ekf_localizer/package.xml
@@ -23,11 +23,11 @@
   <build_depend>eigen</build_depend>
 
   <depend>autoware_kalman_filter</depend>
+  <depend>autoware_localization_util</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
-  <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
index f678412a25438..1b747c750977c 100644
--- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
+++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
@@ -17,7 +17,7 @@
 #include "autoware/ekf_localizer/diagnostics.hpp"
 #include "autoware/ekf_localizer/string.hpp"
 #include "autoware/ekf_localizer/warning_message.hpp"
-#include "localization_util/covariance_ellipse.hpp"
+#include "autoware/localization_util/covariance_ellipse.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>
diff --git a/localization/autoware_gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml
index 0e78d0dea51b6..77de1d582fc0f 100644
--- a/localization/autoware_gyro_odometer/package.xml
+++ b/localization/autoware_gyro_odometer/package.xml
@@ -17,11 +17,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_localization_util</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
-  <depend>localization_util</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
diff --git a/localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp b/localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp
index bc2abb4a8a321..9511f168f346f 100644
--- a/localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp
+++ b/localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp
@@ -72,7 +72,8 @@ GyroOdometerNode::GyroOdometerNode(const rclcpp::NodeOptions & node_options)
   twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
     "twist_with_covariance", rclcpp::QoS{10});
 
-  diagnostics_ = std::make_unique<DiagnosticsModule>(this, "gyro_odometer_status");
+  diagnostics_ =
+    std::make_unique<autoware::localization_util::DiagnosticsModule>(this, "gyro_odometer_status");
 
   // TODO(YamatoAndo) createTimer
 }
diff --git a/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp b/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp
index 1b2c4246a037a..036b3d7cab527 100644
--- a/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp
+++ b/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp
@@ -15,10 +15,10 @@
 #ifndef GYRO_ODOMETER_CORE_HPP_
 #define GYRO_ODOMETER_CORE_HPP_
 
+#include "autoware/localization_util/diagnostics_module.hpp"
 #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
 #include "autoware/universe_utils/ros/transform_listener.hpp"
-#include "localization_util/diagnostics_module.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -80,7 +80,7 @@ class GyroOdometerNode : public rclcpp::Node
   std::deque<geometry_msgs::msg::TwistWithCovarianceStamped> vehicle_twist_queue_;
   std::deque<sensor_msgs::msg::Imu> gyro_queue_;
 
-  std::unique_ptr<DiagnosticsModule> diagnostics_;
+  std::unique_ptr<autoware::localization_util::DiagnosticsModule> diagnostics_;
 };
 
 }  // namespace autoware::gyro_odometer
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
index e8597a6fc9a4e..4f6726abb33ef 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
@@ -19,9 +19,9 @@
   <test_depend>ament_index_cpp</test_depend>
   <depend>aruco</depend>
   <depend>autoware_landmark_manager</depend>
+  <depend>autoware_localization_util</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_msgs</depend>
-  <depend>localization_util</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_eigen</depend>
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
index 80845402a59f3..2418cf3f5dd1c 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -44,7 +44,7 @@
 
 #include "ar_tag_based_localizer.hpp"
 
-#include "localization_util/util_func.hpp"
+#include "autoware/localization_util/util_func.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -94,7 +94,7 @@ ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
     RCLCPP_ERROR_STREAM(this->get_logger(), "Invalid detection_mode: " << detection_mode);
     return;
   }
-  ekf_pose_buffer_ = std::make_unique<SmartPoseBuffer>(
+  ekf_pose_buffer_ = std::make_unique<autoware::localization_util::SmartPoseBuffer>(
     this->get_logger(), ekf_time_tolerance_, ekf_position_tolerance_);
 
   /*
@@ -168,8 +168,8 @@ void ArTagBasedLocalizer::image_callback(const Image::ConstSharedPtr & msg)
   const builtin_interfaces::msg::Time sensor_stamp = msg->header.stamp;
 
   // get self pose
-  const std::optional<SmartPoseBuffer::InterpolateResult> interpolate_result =
-    ekf_pose_buffer_->interpolate(sensor_stamp);
+  const std::optional<autoware::localization_util::SmartPoseBuffer::InterpolateResult>
+    interpolate_result = ekf_pose_buffer_->interpolate(sensor_stamp);
   if (!interpolate_result) {
     return;
   }
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
index 9826c04e3a86f..ddfdf852be2b5 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
@@ -46,7 +46,7 @@
 #define AR_TAG_BASED_LOCALIZER_HPP_
 
 #include "autoware/landmark_manager/landmark_manager.hpp"
-#include "localization_util/smart_pose_buffer.hpp"
+#include "autoware/localization_util/smart_pose_buffer.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -122,7 +122,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
   aruco::MarkerDetector detector_;
   aruco::CameraParameters cam_param_;
   bool cam_info_received_;
-  std::unique_ptr<SmartPoseBuffer> ekf_pose_buffer_;
+  std::unique_ptr<autoware::localization_util::SmartPoseBuffer> ekf_pose_buffer_;
   landmark_manager::LandmarkManager landmark_manager_;
 };
 
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
index d69adc7904411..43ef73b8c5226 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
@@ -19,10 +19,10 @@
   <build_depend>eigen</build_depend>
 
   <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_localization_util</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
-  <depend>localization_util</depend>
   <depend>rclcpp</depend>
   <depend>tf2_eigen</depend>
 
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
index 488f250e325d2..04823a71febe9 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/landmark_manager/landmark_manager.hpp"
 
+#include "autoware/localization_util/util_func.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_lanelet2_extension/utility/message_conversion.hpp"
-#include "localization_util/util_func.hpp"
 
 #include <Eigen/Core>
 #include <tf2_eigen/tf2_eigen.hpp>
@@ -178,12 +178,14 @@ geometry_msgs::msg::Pose LandmarkManager::calculate_new_self_pose(
       }
 
       if (consider_orientation) {
-        const Eigen::Affine3d landmark_pose = pose_to_affine3d(mapped_landmark_on_map);
+        const Eigen::Affine3d landmark_pose =
+          autoware::localization_util::pose_to_affine3d(mapped_landmark_on_map);
         const Eigen::Affine3d landmark_to_base_link =
-          pose_to_affine3d(detected_landmark_on_base_link).inverse();
+          autoware::localization_util::pose_to_affine3d(detected_landmark_on_base_link).inverse();
         const Eigen::Affine3d new_self_pose_eigen = landmark_pose * landmark_to_base_link;
 
-        const Pose new_self_pose = matrix4f_to_pose(new_self_pose_eigen.matrix().cast<float>());
+        const Pose new_self_pose =
+          autoware::localization_util::matrix4f_to_pose(new_self_pose_eigen.matrix().cast<float>());
 
         // update
         min_distance = curr_distance;
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
index bf60d96311ff1..2b19b46b55424 100755
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml
@@ -15,10 +15,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_landmark_manager</depend>
+  <depend>autoware_localization_util</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_point_types</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>localization_util</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp
index 83fcae2352f51..06d2acf8a55fc 100644
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp
@@ -81,7 +81,7 @@ LidarMarkerLocalizer::LidarMarkerLocalizer(const rclcpp::NodeOptions & node_opti
   param_.save_file_name = this->declare_parameter<std::string>("save_file_name");
   param_.save_frame_id = this->declare_parameter<std::string>("save_frame_id");
 
-  ekf_pose_buffer_ = std::make_unique<SmartPoseBuffer>(
+  ekf_pose_buffer_ = std::make_unique<autoware::localization_util::SmartPoseBuffer>(
     this->get_logger(), param_.self_pose_timeout_sec, param_.self_pose_distance_tolerance_m);
 
   rclcpp::CallbackGroup::SharedPtr points_callback_group;
@@ -122,7 +122,8 @@ LidarMarkerLocalizer::LidarMarkerLocalizer(const rclcpp::NodeOptions & node_opti
   tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
   tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this, false);
 
-  diagnostics_module_.reset(new DiagnosticsModule(this, "marker_detection_status"));
+  diagnostics_module_.reset(
+    new autoware::localization_util::DiagnosticsModule(this, "marker_detection_status"));
 }
 
 void LidarMarkerLocalizer::initialize_diagnostics()
@@ -195,8 +196,8 @@ void LidarMarkerLocalizer::main_process(const PointCloud2::ConstSharedPtr & poin
   }
 
   // (2) get Self Pose
-  const std::optional<SmartPoseBuffer::InterpolateResult> interpolate_result =
-    ekf_pose_buffer_->interpolate(sensor_ros_time);
+  const std::optional<autoware::localization_util::SmartPoseBuffer::InterpolateResult>
+    interpolate_result = ekf_pose_buffer_->interpolate(sensor_ros_time);
 
   const bool is_received_self_pose = interpolate_result != std::nullopt;
   diagnostics_module_->add_key_value("is_received_self_pose", is_received_self_pose);
@@ -607,7 +608,7 @@ void LidarMarkerLocalizer::transform_sensor_measurement(
   const geometry_msgs::msg::PoseStamped target_to_source_pose_stamped =
     autoware::universe_utils::transform2pose(transform);
   const Eigen::Matrix4f base_to_sensor_matrix =
-    pose_to_matrix4f(target_to_source_pose_stamped.pose);
+    autoware::localization_util::pose_to_matrix4f(target_to_source_pose_stamped.pose);
   pcl_ros::transformPointCloud(
     base_to_sensor_matrix, *sensor_points_input_ptr, *sensor_points_output_ptr);
 }
diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp
index 11a6e0b34abdc..d1482c6912592 100644
--- a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp
+++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp
@@ -15,8 +15,8 @@
 #ifndef LIDAR_MARKER_LOCALIZER_HPP_
 #define LIDAR_MARKER_LOCALIZER_HPP_
 
-#include "localization_util/diagnostics_module.hpp"
-#include "localization_util/smart_pose_buffer.hpp"
+#include "autoware/localization_util/diagnostics_module.hpp"
+#include "autoware/localization_util/smart_pose_buffer.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -134,11 +134,11 @@ class LidarMarkerLocalizer : public rclcpp::Node
   rclcpp::Publisher<PoseWithCovarianceStamped>::SharedPtr pub_debug_pose_with_covariance_;
   rclcpp::Publisher<PointCloud2>::SharedPtr pub_marker_pointcloud_;
 
-  std::shared_ptr<DiagnosticsModule> diagnostics_module_;
+  std::shared_ptr<autoware::localization_util::DiagnosticsModule> diagnostics_module_;
 
   Param param_;
   bool is_activated_;
-  std::unique_ptr<SmartPoseBuffer> ekf_pose_buffer_;
+  std::unique_ptr<autoware::localization_util::SmartPoseBuffer> ekf_pose_buffer_;
 
   landmark_manager::LandmarkManager landmark_manager_;
 };
diff --git a/localization/autoware_localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml
index 426b0d6b6c432..463e7aee347d7 100644
--- a/localization/autoware_localization_error_monitor/package.xml
+++ b/localization/autoware_localization_error_monitor/package.xml
@@ -19,9 +19,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen</buildtool_depend>
 
+  <depend>autoware_localization_util</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
-  <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
diff --git a/localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp b/localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp
index 3f9a02834c74d..63edbe5f6a9c7 100644
--- a/localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp
+++ b/localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp
@@ -58,7 +58,8 @@ LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & o
 
   logger_configure_ = std::make_unique<autoware::universe_utils::LoggerLevelConfigure>(this);
 
-  diagnostics_error_monitor_ = std::make_unique<DiagnosticsModule>(this, "ellipse_error_status");
+  diagnostics_error_monitor_ =
+    std::make_unique<autoware::localization_util::DiagnosticsModule>(this, "ellipse_error_status");
 }
 
 void LocalizationErrorMonitor::on_odom(nav_msgs::msg::Odometry::ConstSharedPtr input_msg)
diff --git a/localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp b/localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp
index 49abacfa60f38..7b26573964b38 100644
--- a/localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp
+++ b/localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp
@@ -15,8 +15,8 @@
 #ifndef LOCALIZATION_ERROR_MONITOR_HPP_
 #define LOCALIZATION_ERROR_MONITOR_HPP_
 
-#include "localization_util/covariance_ellipse.hpp"
-#include "localization_util/diagnostics_module.hpp"
+#include "autoware/localization_util/covariance_ellipse.hpp"
+#include "autoware/localization_util/diagnostics_module.hpp"
 
 #include <Eigen/Dense>
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
@@ -39,7 +39,7 @@ class LocalizationErrorMonitor : public rclcpp::Node
 
   std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<DiagnosticsModule> diagnostics_error_monitor_;
+  std::unique_ptr<autoware::localization_util::DiagnosticsModule> diagnostics_error_monitor_;
 
   double scale_;
   double error_ellipse_size_;
diff --git a/localization/localization_util/CMakeLists.txt b/localization/autoware_localization_util/CMakeLists.txt
similarity index 87%
rename from localization/localization_util/CMakeLists.txt
rename to localization/autoware_localization_util/CMakeLists.txt
index 2e4d4b321ec54..dd18f3cbad932 100644
--- a/localization/localization_util/CMakeLists.txt
+++ b/localization/autoware_localization_util/CMakeLists.txt
@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 3.14)
-project(localization_util)
+project(autoware_localization_util)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(localization_util SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/util_func.cpp
   src/diagnostics_module.cpp
   src/smart_pose_buffer.cpp
diff --git a/localization/autoware_localization_util/README.md b/localization/autoware_localization_util/README.md
new file mode 100644
index 0000000000000..f7fddd9eebf05
--- /dev/null
+++ b/localization/autoware_localization_util/README.md
@@ -0,0 +1,5 @@
+# autoware_localization_util
+
+`autoware_localization_util` is a localization utility package.
+
+This package does not have a node, it is just a library.
diff --git a/localization/localization_util/include/localization_util/covariance_ellipse.hpp b/localization/autoware_localization_util/include/autoware/localization_util/covariance_ellipse.hpp
similarity index 87%
rename from localization/localization_util/include/localization_util/covariance_ellipse.hpp
rename to localization/autoware_localization_util/include/autoware/localization_util/covariance_ellipse.hpp
index 1f187d411dc63..abd0af46856b0 100644
--- a/localization/localization_util/include/localization_util/covariance_ellipse.hpp
+++ b/localization/autoware_localization_util/include/autoware/localization_util/covariance_ellipse.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_
-#define LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_
+#ifndef AUTOWARE__LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_
+#define AUTOWARE__LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_
 
 #include <Eigen/Dense>
 
@@ -41,4 +41,4 @@ visualization_msgs::msg::Marker create_ellipse_marker(
 
 }  // namespace autoware::localization_util
 
-#endif  // LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_
+#endif  // AUTOWARE__LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_
diff --git a/localization/localization_util/include/localization_util/diagnostics_module.hpp b/localization/autoware_localization_util/include/autoware/localization_util/diagnostics_module.hpp
similarity index 87%
rename from localization/localization_util/include/localization_util/diagnostics_module.hpp
rename to localization/autoware_localization_util/include/autoware/localization_util/diagnostics_module.hpp
index 0ec52cfe814af..8c19c94127630 100644
--- a/localization/localization_util/include/localization_util/diagnostics_module.hpp
+++ b/localization/autoware_localization_util/include/autoware/localization_util/diagnostics_module.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_
-#define LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_
+#ifndef AUTOWARE__LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_
+#define AUTOWARE__LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -22,6 +22,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::localization_util
+{
 class DiagnosticsModule
 {
 public:
@@ -57,4 +59,6 @@ void DiagnosticsModule::add_key_value(const std::string & key, const std::string
 template <>
 void DiagnosticsModule::add_key_value(const std::string & key, const bool & value);
 
-#endif  // LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_
+}  // namespace autoware::localization_util
+
+#endif  // AUTOWARE__LOCALIZATION_UTIL__DIAGNOSTICS_MODULE_HPP_
diff --git a/localization/localization_util/include/localization_util/matrix_type.hpp b/localization/autoware_localization_util/include/autoware/localization_util/matrix_type.hpp
similarity index 75%
rename from localization/localization_util/include/localization_util/matrix_type.hpp
rename to localization/autoware_localization_util/include/autoware/localization_util/matrix_type.hpp
index d9ec9b369127a..bda6ff19f2867 100644
--- a/localization/localization_util/include/localization_util/matrix_type.hpp
+++ b/localization/autoware_localization_util/include/autoware/localization_util/matrix_type.hpp
@@ -12,12 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_UTIL__MATRIX_TYPE_HPP_
-#define LOCALIZATION_UTIL__MATRIX_TYPE_HPP_
+#ifndef AUTOWARE__LOCALIZATION_UTIL__MATRIX_TYPE_HPP_
+#define AUTOWARE__LOCALIZATION_UTIL__MATRIX_TYPE_HPP_
 
 #include <Eigen/Core>
 
+namespace autoware::localization_util
+{
 using Matrix6d = Eigen::Matrix<double, 6, 6>;
 using RowMatrixXd = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+}  // namespace autoware::localization_util
 
-#endif  // LOCALIZATION_UTIL__MATRIX_TYPE_HPP_
+#endif  // AUTOWARE__LOCALIZATION_UTIL__MATRIX_TYPE_HPP_
diff --git a/localization/localization_util/include/localization_util/smart_pose_buffer.hpp b/localization/autoware_localization_util/include/autoware/localization_util/smart_pose_buffer.hpp
similarity index 86%
rename from localization/localization_util/include/localization_util/smart_pose_buffer.hpp
rename to localization/autoware_localization_util/include/autoware/localization_util/smart_pose_buffer.hpp
index 2a2a775a9280c..8c10506c36753 100644
--- a/localization/localization_util/include/localization_util/smart_pose_buffer.hpp
+++ b/localization/autoware_localization_util/include/autoware/localization_util/smart_pose_buffer.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_UTIL__SMART_POSE_BUFFER_HPP_
-#define LOCALIZATION_UTIL__SMART_POSE_BUFFER_HPP_
+#ifndef AUTOWARE__LOCALIZATION_UTIL__SMART_POSE_BUFFER_HPP_
+#define AUTOWARE__LOCALIZATION_UTIL__SMART_POSE_BUFFER_HPP_
 
-#include "localization_util/util_func.hpp"
+#include "autoware/localization_util/util_func.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,6 +23,8 @@
 
 #include <deque>
 
+namespace autoware::localization_util
+{
 class SmartPoseBuffer
 {
 private:
@@ -64,5 +66,6 @@ class SmartPoseBuffer
     const geometry_msgs::msg::Point & target_point,
     const geometry_msgs::msg::Point & reference_point, const double distance_tolerance_m_) const;
 };
+}  // namespace autoware::localization_util
 
-#endif  // LOCALIZATION_UTIL__SMART_POSE_BUFFER_HPP_
+#endif  // AUTOWARE__LOCALIZATION_UTIL__SMART_POSE_BUFFER_HPP_
diff --git a/localization/localization_util/include/localization_util/tree_structured_parzen_estimator.hpp b/localization/autoware_localization_util/include/autoware/localization_util/tree_structured_parzen_estimator.hpp
similarity index 87%
rename from localization/localization_util/include/localization_util/tree_structured_parzen_estimator.hpp
rename to localization/autoware_localization_util/include/autoware/localization_util/tree_structured_parzen_estimator.hpp
index ee25ac175c0b4..ddf7625c202ec 100644
--- a/localization/localization_util/include/localization_util/tree_structured_parzen_estimator.hpp
+++ b/localization/autoware_localization_util/include/autoware/localization_util/tree_structured_parzen_estimator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
-#define LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
+#ifndef AUTOWARE__LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
+#define AUTOWARE__LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
 
 /*
 A implementation of tree-structured parzen estimator (TPE)
@@ -28,6 +28,8 @@ Optuna is also used as a reference for implementation.
 #include <random>
 #include <vector>
 
+namespace autoware::localization_util
+{
 class TreeStructuredParzenEstimator
 {
 public:
@@ -80,5 +82,6 @@ class TreeStructuredParzenEstimator
   const std::vector<double> sample_stddev_;
   Input base_stddev_;
 };
+}  // namespace autoware::localization_util
 
-#endif  // LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
+#endif  // AUTOWARE__LOCALIZATION_UTIL__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_
diff --git a/localization/localization_util/include/localization_util/util_func.hpp b/localization/autoware_localization_util/include/autoware/localization_util/util_func.hpp
similarity index 92%
rename from localization/localization_util/include/localization_util/util_func.hpp
rename to localization/autoware_localization_util/include/autoware/localization_util/util_func.hpp
index 0b31333da44d3..bef9968f34b6f 100644
--- a/localization/localization_util/include/localization_util/util_func.hpp
+++ b/localization/autoware_localization_util/include/autoware/localization_util/util_func.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_UTIL__UTIL_FUNC_HPP_
-#define LOCALIZATION_UTIL__UTIL_FUNC_HPP_
+#ifndef AUTOWARE__LOCALIZATION_UTIL__UTIL_FUNC_HPP_
+#define AUTOWARE__LOCALIZATION_UTIL__UTIL_FUNC_HPP_
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
@@ -36,6 +36,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::localization_util
+{
 // ref by http://takacity.blog.fc2.com/blog-entry-69.html
 std_msgs::msg::ColorRGBA exchange_color_crc(double x);
 
@@ -81,4 +83,6 @@ void output_pose_with_cov_to_log(
   const rclcpp::Logger & logger, const std::string & prefix,
   const geometry_msgs::msg::PoseWithCovarianceStamped & pose_with_cov);
 
-#endif  // LOCALIZATION_UTIL__UTIL_FUNC_HPP_
+}  // namespace autoware::localization_util
+
+#endif  // AUTOWARE__LOCALIZATION_UTIL__UTIL_FUNC_HPP_
diff --git a/localization/localization_util/package.xml b/localization/autoware_localization_util/package.xml
similarity index 92%
rename from localization/localization_util/package.xml
rename to localization/autoware_localization_util/package.xml
index 86c74bb92f2f8..48abf542ddd07 100644
--- a/localization/localization_util/package.xml
+++ b/localization/autoware_localization_util/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>localization_util</name>
+  <name>autoware_localization_util</name>
   <version>0.1.0</version>
-  <description>The localization_util package</description>
+  <description>The autoware_localization_util package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
diff --git a/localization/localization_util/src/covariance_ellipse.cpp b/localization/autoware_localization_util/src/covariance_ellipse.cpp
similarity index 98%
rename from localization/localization_util/src/covariance_ellipse.cpp
rename to localization/autoware_localization_util/src/covariance_ellipse.cpp
index 885ce2dcee19c..4a7d71909fb7a 100644
--- a/localization/localization_util/src/covariance_ellipse.cpp
+++ b/localization/autoware_localization_util/src/covariance_ellipse.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/covariance_ellipse.hpp"
+#include "autoware/localization_util/covariance_ellipse.hpp"
 
 #include <tf2/utils.h>
 #ifdef ROS_DISTRO_GALACTIC
diff --git a/localization/localization_util/src/diagnostics_module.cpp b/localization/autoware_localization_util/src/diagnostics_module.cpp
similarity index 95%
rename from localization/localization_util/src/diagnostics_module.cpp
rename to localization/autoware_localization_util/src/diagnostics_module.cpp
index fb9e122a71e24..2b68dbf4f5890 100644
--- a/localization/localization_util/src/diagnostics_module.cpp
+++ b/localization/autoware_localization_util/src/diagnostics_module.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/diagnostics_module.hpp"
+#include "autoware/localization_util/diagnostics_module.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -21,6 +21,8 @@
 #include <algorithm>
 #include <string>
 
+namespace autoware::localization_util
+{
 DiagnosticsModule::DiagnosticsModule(rclcpp::Node * node, const std::string & diagnostic_name)
 : clock_(node->get_clock())
 {
@@ -103,3 +105,4 @@ diagnostic_msgs::msg::DiagnosticArray DiagnosticsModule::create_diagnostics_arra
 
   return diagnostics_msg;
 }
+}  // namespace autoware::localization_util
diff --git a/localization/localization_util/src/smart_pose_buffer.cpp b/localization/autoware_localization_util/src/smart_pose_buffer.cpp
similarity index 97%
rename from localization/localization_util/src/smart_pose_buffer.cpp
rename to localization/autoware_localization_util/src/smart_pose_buffer.cpp
index 201c743471efd..3b529d68cf6c5 100644
--- a/localization/localization_util/src/smart_pose_buffer.cpp
+++ b/localization/autoware_localization_util/src/smart_pose_buffer.cpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/smart_pose_buffer.hpp"
+#include "autoware/localization_util/smart_pose_buffer.hpp"
 
+namespace autoware::localization_util
+{
 SmartPoseBuffer::SmartPoseBuffer(
   const rclcpp::Logger & logger, const double & pose_timeout_sec,
   const double & pose_distance_tolerance_meters)
@@ -153,3 +155,4 @@ bool SmartPoseBuffer::validate_position_difference(
   }
   return success;
 }
+}  // namespace autoware::localization_util
diff --git a/localization/localization_util/src/tree_structured_parzen_estimator.cpp b/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp
similarity index 97%
rename from localization/localization_util/src/tree_structured_parzen_estimator.cpp
rename to localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp
index 8d594310d79bc..064b33ebe3ad9 100644
--- a/localization/localization_util/src/tree_structured_parzen_estimator.cpp
+++ b/localization/autoware_localization_util/src/tree_structured_parzen_estimator.cpp
@@ -12,13 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/tree_structured_parzen_estimator.hpp"
+#include "autoware/localization_util/tree_structured_parzen_estimator.hpp"
 
 #include <algorithm>
 #include <cassert>
 #include <iostream>
 #include <numeric>
 
+namespace autoware::localization_util
+{
 // random number generator
 std::mt19937_64 TreeStructuredParzenEstimator::engine(0);
 
@@ -177,3 +179,4 @@ double TreeStructuredParzenEstimator::log_gaussian_pdf(
   }
   return result;
 }
+}  // namespace autoware::localization_util
diff --git a/localization/localization_util/src/util_func.cpp b/localization/autoware_localization_util/src/util_func.cpp
similarity index 97%
rename from localization/localization_util/src/util_func.cpp
rename to localization/autoware_localization_util/src/util_func.cpp
index 133442df68dcd..6b019f7750471 100644
--- a/localization/localization_util/src/util_func.cpp
+++ b/localization/autoware_localization_util/src/util_func.cpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/util_func.hpp"
+#include "autoware/localization_util/util_func.hpp"
 
-#include "localization_util/matrix_type.hpp"
+#include "autoware/localization_util/matrix_type.hpp"
 
+namespace autoware::localization_util
+{
 // ref by http://takacity.blog.fc2.com/blog-entry-69.html
 std_msgs::msg::ColorRGBA exchange_color_crc(double x)
 {
@@ -249,3 +251,4 @@ void output_pose_with_cov_to_log(
                        << covariance(1, 1) << "," << covariance(2, 2) << "," << covariance(3, 3)
                        << "," << covariance(4, 4) << "," << covariance(5, 5));
 }
+}  // namespace autoware::localization_util
diff --git a/localization/localization_util/test/test_smart_pose_buffer.cpp b/localization/autoware_localization_util/test/test_smart_pose_buffer.cpp
similarity index 88%
rename from localization/localization_util/test/test_smart_pose_buffer.cpp
rename to localization/autoware_localization_util/test/test_smart_pose_buffer.cpp
index a8ed6d98b6064..d55555682be84 100644
--- a/localization/localization_util/test/test_smart_pose_buffer.cpp
+++ b/localization/autoware_localization_util/test/test_smart_pose_buffer.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/smart_pose_buffer.hpp"
-#include "localization_util/util_func.hpp"
+#include "autoware/localization_util/smart_pose_buffer.hpp"
+#include "autoware/localization_util/util_func.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -26,6 +26,7 @@
 #include <vector>
 
 using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
+using SmartPoseBuffer = autoware::localization_util::SmartPoseBuffer;
 
 bool compare_pose(
   const PoseWithCovarianceStamped & pose_a, const PoseWithCovarianceStamped & pose_b)
@@ -56,7 +57,8 @@ TEST(TestSmartPoseBuffer, interpolate_pose)  // NOLINT
   old_pose_ptr->pose.pose.position.x = 10.0;
   old_pose_ptr->pose.pose.position.y = 20.0;
   old_pose_ptr->pose.pose.position.z = 0.0;
-  old_pose_ptr->pose.pose.orientation = rpy_deg_to_quaternion(0.0, 0.0, 0.0);
+  old_pose_ptr->pose.pose.orientation =
+    autoware::localization_util::rpy_deg_to_quaternion(0.0, 0.0, 0.0);
   smart_pose_buffer.push_back(old_pose_ptr);
 
   // second data
@@ -66,7 +68,8 @@ TEST(TestSmartPoseBuffer, interpolate_pose)  // NOLINT
   new_pose_ptr->pose.pose.position.x = 20.0;
   new_pose_ptr->pose.pose.position.y = 40.0;
   new_pose_ptr->pose.pose.position.z = 0.0;
-  new_pose_ptr->pose.pose.orientation = rpy_deg_to_quaternion(0.0, 0.0, 90.0);
+  new_pose_ptr->pose.pose.orientation =
+    autoware::localization_util::rpy_deg_to_quaternion(0.0, 0.0, 90.0);
   smart_pose_buffer.push_back(new_pose_ptr);
 
   // interpolate
@@ -90,7 +93,7 @@ TEST(TestSmartPoseBuffer, interpolate_pose)  // NOLINT
   EXPECT_EQ(result.interpolated_pose.pose.pose.position.x, 15.0);
   EXPECT_EQ(result.interpolated_pose.pose.pose.position.y, 30.0);
   EXPECT_EQ(result.interpolated_pose.pose.pose.position.z, 0.0);
-  const auto rpy = get_rpy(result.interpolated_pose.pose.pose);
+  const auto rpy = autoware::localization_util::get_rpy(result.interpolated_pose.pose.pose);
   EXPECT_NEAR(rpy.x * 180 / M_PI, 0.0, 1e-6);
   EXPECT_NEAR(rpy.y * 180 / M_PI, 0.0, 1e-6);
   EXPECT_NEAR(rpy.z * 180 / M_PI, 45.0, 1e-6);
diff --git a/localization/localization_util/test/test_tpe.cpp b/localization/autoware_localization_util/test/test_tpe.cpp
similarity index 93%
rename from localization/localization_util/test/test_tpe.cpp
rename to localization/autoware_localization_util/test/test_tpe.cpp
index fd9afe8b2a75f..6cbe3c2a62571 100644
--- a/localization/localization_util/test/test_tpe.cpp
+++ b/localization/autoware_localization_util/test/test_tpe.cpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_util/tree_structured_parzen_estimator.hpp"
+#include "autoware/localization_util/tree_structured_parzen_estimator.hpp"
 
 #include <gtest/gtest.h>
 
+using TreeStructuredParzenEstimator = autoware::localization_util::TreeStructuredParzenEstimator;
+
 TEST(TreeStructuredParzenEstimatorTest, TPE_is_better_than_random_search_on_sphere_function)
 {
   auto sphere_function = [](const TreeStructuredParzenEstimator::Input & input) {
diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp
index 8e7bf78845674..9b140977f4971 100644
--- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp
+++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/map_update_module.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
 #define AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
 
+#include "autoware/localization_util/diagnostics_module.hpp"
+#include "autoware/localization_util/util_func.hpp"
 #include "autoware/ndt_scan_matcher/hyper_parameters.hpp"
 #include "autoware/ndt_scan_matcher/particle.hpp"
-#include "localization_util/diagnostics_module.hpp"
-#include "localization_util/util_func.hpp"
 
 #include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>
@@ -42,6 +42,7 @@
 
 namespace autoware::ndt_scan_matcher
 {
+using DiagnosticsModule = autoware::localization_util::DiagnosticsModule;
 
 class MapUpdateModule
 {
diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp
index b4062535503c1..c47af70f4c189 100644
--- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp
+++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp
@@ -17,10 +17,10 @@
 
 #define FMT_HEADER_ONLY
 
+#include "autoware/localization_util/diagnostics_module.hpp"
+#include "autoware/localization_util/smart_pose_buffer.hpp"
 #include "autoware/ndt_scan_matcher/hyper_parameters.hpp"
 #include "autoware/ndt_scan_matcher/map_update_module.hpp"
-#include "localization_util/diagnostics_module.hpp"
-#include "localization_util/smart_pose_buffer.hpp"
 
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -202,13 +202,13 @@ class NDTScanMatcher : public rclcpp::Node
   Eigen::Matrix4f base_to_sensor_matrix_;
 
   std::mutex ndt_ptr_mtx_;
-  std::unique_ptr<SmartPoseBuffer> initial_pose_buffer_;
+  std::unique_ptr<autoware::localization_util::SmartPoseBuffer> initial_pose_buffer_;
 
   // Keep latest position for dynamic map loading
   std::mutex latest_ekf_position_mtx_;
   std::optional<geometry_msgs::msg::Point> latest_ekf_position_ = std::nullopt;
 
-  std::unique_ptr<SmartPoseBuffer> regularization_pose_buffer_;
+  std::unique_ptr<autoware::localization_util::SmartPoseBuffer> regularization_pose_buffer_;
 
   std::atomic<bool> is_activated_;
   std::unique_ptr<DiagnosticsModule> diagnostics_scan_points_;
diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml
index f27cd63ff523e..a4e5d71fa5c59 100644
--- a/localization/autoware_ndt_scan_matcher/package.xml
+++ b/localization/autoware_ndt_scan_matcher/package.xml
@@ -17,13 +17,13 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_localization_util</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
-  <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>ndt_omp</depend>
   <depend>pcl_conversions</depend>
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
index e9619375dc60a..8cc397c4531b5 100644
--- a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+++ b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -14,10 +14,10 @@
 
 #include "autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp"
 
+#include "autoware/localization_util/matrix_type.hpp"
+#include "autoware/localization_util/tree_structured_parzen_estimator.hpp"
+#include "autoware/localization_util/util_func.hpp"
 #include "autoware/ndt_scan_matcher/particle.hpp"
-#include "localization_util/matrix_type.hpp"
-#include "localization_util/tree_structured_parzen_estimator.hpp"
-#include "localization_util/util_func.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>
@@ -39,6 +39,14 @@
 
 namespace autoware::ndt_scan_matcher
 {
+using autoware::localization_util::exchange_color_crc;
+using autoware::localization_util::matrix4f_to_pose;
+using autoware::localization_util::point_to_vector3d;
+using autoware::localization_util::pose_to_matrix4f;
+
+using autoware::localization_util::DiagnosticsModule;
+using autoware::localization_util::SmartPoseBuffer;
+using autoware::localization_util::TreeStructuredParzenEstimator;
 
 tier4_debug_msgs::msg::Float32Stamped make_float32_stamped(
   const builtin_interfaces::msg::Time & stamp, const float data)
@@ -593,8 +601,8 @@ bool NDTScanMatcher::callback_sensor_points_main(
   }
 
   // check distance_initial_to_result
-  const auto distance_initial_to_result = static_cast<double>(
-    norm(interpolation_result.interpolated_pose.pose.pose.position, result_pose_msg.position));
+  const auto distance_initial_to_result = static_cast<double>(autoware::localization_util::norm(
+    interpolation_result.interpolated_pose.pose.pose.position, result_pose_msg.position));
   diagnostics_scan_points_->add_key_value("distance_initial_to_result", distance_initial_to_result);
   if (distance_initial_to_result > param_.validation.initial_to_result_distance_tolerance_m) {
     std::stringstream message;
@@ -798,18 +806,18 @@ void NDTScanMatcher::publish_initial_to_result(
   initial_to_result_relative_pose_stamped.header.frame_id = param_.frame.map_frame;
   initial_to_result_relative_pose_pub_->publish(initial_to_result_relative_pose_stamped);
 
-  const auto initial_to_result_distance =
-    static_cast<float>(norm(initial_pose_cov_msg.pose.pose.position, result_pose_msg.position));
+  const auto initial_to_result_distance = static_cast<float>(autoware::localization_util::norm(
+    initial_pose_cov_msg.pose.pose.position, result_pose_msg.position));
   initial_to_result_distance_pub_->publish(
     make_float32_stamped(sensor_ros_time, initial_to_result_distance));
 
-  const auto initial_to_result_distance_old =
-    static_cast<float>(norm(initial_pose_old_msg.pose.pose.position, result_pose_msg.position));
+  const auto initial_to_result_distance_old = static_cast<float>(autoware::localization_util::norm(
+    initial_pose_old_msg.pose.pose.position, result_pose_msg.position));
   initial_to_result_distance_old_pub_->publish(
     make_float32_stamped(sensor_ros_time, initial_to_result_distance_old));
 
-  const auto initial_to_result_distance_new =
-    static_cast<float>(norm(initial_pose_new_msg.pose.pose.position, result_pose_msg.position));
+  const auto initial_to_result_distance_new = static_cast<float>(autoware::localization_util::norm(
+    initial_pose_new_msg.pose.pose.position, result_pose_msg.position));
   initial_to_result_distance_new_pub_->publish(
     make_float32_stamped(sensor_ros_time, initial_to_result_distance_new));
 }
@@ -1010,7 +1018,8 @@ void NDTScanMatcher::service_ndt_align_main(
   diagnostics_ndt_align_->add_key_value("is_succeed_transform_initial_pose", true);
 
   // transform pose_frame to map_frame
-  auto initial_pose_msg_in_map_frame = transform(req->pose_with_covariance, transform_s2t);
+  auto initial_pose_msg_in_map_frame =
+    autoware::localization_util::transform(req->pose_with_covariance, transform_s2t);
   initial_pose_msg_in_map_frame.header.stamp = req->pose_with_covariance.header.stamp;
   map_update_module_->update_map(
     initial_pose_msg_in_map_frame.pose.pose.position, diagnostics_ndt_align_);
@@ -1062,10 +1071,11 @@ void NDTScanMatcher::service_ndt_align_main(
 std::tuple<geometry_msgs::msg::PoseWithCovarianceStamped, double> NDTScanMatcher::align_pose(
   const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov)
 {
-  output_pose_with_cov_to_log(get_logger(), "align_pose_input", initial_pose_with_cov);
+  autoware::localization_util::output_pose_with_cov_to_log(
+    get_logger(), "align_pose_input", initial_pose_with_cov);
 
-  const auto base_rpy = get_rpy(initial_pose_with_cov);
-  const Eigen::Map<const RowMatrixXd> covariance = {
+  const auto base_rpy = autoware::localization_util::get_rpy(initial_pose_with_cov);
+  const Eigen::Map<const autoware::localization_util::RowMatrixXd> covariance = {
     initial_pose_with_cov.pose.covariance.data(), 6, 6};
   const double stddev_x = std::sqrt(covariance(0, 0));
   const double stddev_y = std::sqrt(covariance(1, 1));
@@ -1127,7 +1137,7 @@ std::tuple<geometry_msgs::msg::PoseWithCovarianceStamped, double> NDTScanMatcher
     }
 
     const geometry_msgs::msg::Pose pose = matrix4f_to_pose(ndt_result.pose);
-    const geometry_msgs::msg::Vector3 rpy = get_rpy(pose);
+    const geometry_msgs::msg::Vector3 rpy = autoware::localization_util::get_rpy(pose);
 
     TreeStructuredParzenEstimator::Input result(6);
     result[0] = pose.position.x;
@@ -1154,7 +1164,8 @@ std::tuple<geometry_msgs::msg::PoseWithCovarianceStamped, double> NDTScanMatcher
   result_pose_with_cov_msg.header.frame_id = param_.frame.map_frame;
   result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose;
 
-  output_pose_with_cov_to_log(get_logger(), "align_pose_output", result_pose_with_cov_msg);
+  autoware::localization_util::output_pose_with_cov_to_log(
+    get_logger(), "align_pose_output", result_pose_with_cov_msg);
   diagnostics_ndt_align_->add_key_value("best_particle_score", best_particle_ptr->score);
 
   return std::make_tuple(result_pose_with_cov_msg, best_particle_ptr->score);
diff --git a/localization/autoware_ndt_scan_matcher/src/particle.cpp b/localization/autoware_ndt_scan_matcher/src/particle.cpp
index 238e0ea14a65f..a5db875fc3ff7 100644
--- a/localization/autoware_ndt_scan_matcher/src/particle.cpp
+++ b/localization/autoware_ndt_scan_matcher/src/particle.cpp
@@ -14,10 +14,12 @@
 
 #include "autoware/ndt_scan_matcher/particle.hpp"
 
-#include "localization_util/util_func.hpp"
+#include "autoware/localization_util/util_func.hpp"
 namespace autoware::ndt_scan_matcher
 {
 
+using autoware::localization_util::exchange_color_crc;
+
 void push_debug_markers(
   visualization_msgs::msg::MarkerArray & marker_array, const builtin_interfaces::msg::Time & stamp,
   const std::string & map_frame_, const Particle & particle, const size_t i)
diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml
index 67079c476ac8a..d1ffc4ca4aef5 100644
--- a/localization/autoware_pose_initializer/package.xml
+++ b/localization/autoware_pose_initializer/package.xml
@@ -19,13 +19,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_localization_util</depend>
   <depend>autoware_map_height_fitter</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geometry_msgs</depend>
-  <depend>localization_util</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.cpp b/localization/autoware_pose_initializer/src/pose_initializer_core.cpp
index 777f92826de73..912c6ec9b57a2 100644
--- a/localization/autoware_pose_initializer/src/pose_initializer_core.cpp
+++ b/localization/autoware_pose_initializer/src/pose_initializer_core.cpp
@@ -39,7 +39,8 @@ PoseInitializer::PoseInitializer(const rclcpp::NodeOptions & options)
   output_pose_covariance_ = get_covariance_parameter(this, "output_pose_covariance");
   gnss_particle_covariance_ = get_covariance_parameter(this, "gnss_particle_covariance");
 
-  diagnostics_pose_reliable_ = std::make_unique<DiagnosticsModule>(this, "pose_initializer_status");
+  diagnostics_pose_reliable_ = std::make_unique<autoware::localization_util::DiagnosticsModule>(
+    this, "pose_initializer_status");
 
   if (declare_parameter<bool>("ekf_enabled")) {
     ekf_localization_trigger_ = std::make_unique<EkfLocalizationTriggerModule>(this);
diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
index e8fef885cf577..a44f7f70b4b43 100644
--- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
+++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
@@ -15,7 +15,7 @@
 #ifndef POSE_INITIALIZER_CORE_HPP_
 #define POSE_INITIALIZER_CORE_HPP_
 
-#include "localization_util/diagnostics_module.hpp"
+#include "autoware/localization_util/diagnostics_module.hpp"
 
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <component_interface_specs/localization.hpp>
@@ -59,7 +59,7 @@ class PoseInitializer : public rclcpp::Node
   std::unique_ptr<EkfLocalizationTriggerModule> ekf_localization_trigger_;
   std::unique_ptr<NdtLocalizationTriggerModule> ndt_localization_trigger_;
   std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
-  std::unique_ptr<DiagnosticsModule> diagnostics_pose_reliable_;
+  std::unique_ptr<autoware::localization_util::DiagnosticsModule> diagnostics_pose_reliable_;
   double stop_check_duration_;
 
   void change_node_trigger(bool flag, bool need_spin = false);
diff --git a/localization/localization_util/README.md b/localization/localization_util/README.md
deleted file mode 100644
index a7daea33e0273..0000000000000
--- a/localization/localization_util/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# localization_util
-
-`localization_util` is a localization utility package.
-
-This package does not have a node, it is just a library.