diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index 02ab5e2..d96822b 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -386,3 +386,14 @@
         "@com_github_google_glog//:glog",
     ],
 )
+
+cc_library(
+    name = "target_map_utils",
+    srcs = ["target_map_utils.cc"],
+    hdrs = ["target_map_utils.h"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/vision:target_map_fbs",
+        "@org_tuxfamily_eigen//:eigen",
+    ],
+)
diff --git a/y2023/localizer/utils.cc b/frc971/vision/target_map_utils.cc
similarity index 81%
rename from y2023/localizer/utils.cc
rename to frc971/vision/target_map_utils.cc
index 7faca1f..232c2b6 100644
--- a/y2023/localizer/utils.cc
+++ b/frc971/vision/target_map_utils.cc
@@ -1,6 +1,6 @@
-#include "y2023/localizer/utils.h"
+#include "frc971/vision/target_map_utils.h"
 
-namespace y2023::localizer {
+namespace frc971::vision {
 Eigen::Matrix<double, 4, 4> PoseToTransform(
     const frc971::vision::TargetPoseFbs *pose) {
   const frc971::vision::Position *position = pose->position();
@@ -11,4 +11,4 @@
                              quaternion->z()))
       .matrix();
 }
-}  // namespace y2023::localizer
+}  // namespace frc971::vision
diff --git a/frc971/vision/target_map_utils.h b/frc971/vision/target_map_utils.h
new file mode 100644
index 0000000..36b4e30
--- /dev/null
+++ b/frc971/vision/target_map_utils.h
@@ -0,0 +1,14 @@
+#ifndef FRC971_VISION_TARGET_MAP_UTILS_H_
+#define FRC971_VISION_TARGET_MAP_UTILS_H_
+
+#include <Eigen/Dense>
+
+#include "frc971/vision/target_map_generated.h"
+
+namespace frc971::vision {
+// Converts a TargetPoseFbs into a transformation matrix.
+Eigen::Matrix<double, 4, 4> PoseToTransform(
+    const frc971::vision::TargetPoseFbs *pose);
+}  // namespace frc971::vision
+
+#endif  // FRC971_VISION_TARGET_MAP_UTILS_H_
diff --git a/y2023/localizer/BUILD b/y2023/localizer/BUILD
index eb0f886..9b35fcf 100644
--- a/y2023/localizer/BUILD
+++ b/y2023/localizer/BUILD
@@ -81,26 +81,15 @@
 )
 
 cc_library(
-    name = "utils",
-    srcs = ["utils.cc"],
-    hdrs = ["utils.h"],
-    visibility = ["//visibility:public"],
-    deps = [
-        "//frc971/vision:target_map_fbs",
-        "@org_tuxfamily_eigen//:eigen",
-    ],
-)
-
-cc_library(
     name = "map_expander_lib",
     srcs = ["map_expander_lib.cc"],
     hdrs = ["map_expander_lib.h"],
     deps = [
         ":relative_scoring_map_fbs",
         ":scoring_map_fbs",
-        ":utils",
         "//aos:flatbuffers",
         "//aos:json_to_flatbuffer",
+        "//frc971/vision:target_map_utils",
     ],
 )
 
@@ -138,7 +127,6 @@
     visibility = ["//visibility:public"],
     deps = [
         ":status_fbs",
-        ":utils",
         ":visualization_fbs",
         "//aos/containers:sized_array",
         "//aos/events:event_loop",
@@ -152,6 +140,7 @@
         "//frc971/control_loops/drivetrain/localization:utils",
         "//frc971/imu_reader:imu_watcher",
         "//frc971/vision:target_map_fbs",
+        "//frc971/vision:target_map_utils",
         "//y2023:constants",
         "//y2023/constants:constants_fbs",
     ],
@@ -164,12 +153,12 @@
     deps = [
         ":localizer",
         ":status_fbs",
-        ":utils",
         "//aos/events:simulated_event_loop",
         "//aos/events/logging:log_writer",
         "//aos/testing:googletest",
         "//frc971/control_loops/drivetrain:drivetrain_test_lib",
         "//frc971/control_loops/drivetrain:localizer_fbs",
+        "//frc971/vision:target_map_utils",
         "//y2023/constants:simulated_constants_sender",
         "//y2023/control_loops/drivetrain:drivetrain_base",
     ],
diff --git a/y2023/localizer/localizer.cc b/y2023/localizer/localizer.cc
index 76784fb..6f9a16b 100644
--- a/y2023/localizer/localizer.cc
+++ b/y2023/localizer/localizer.cc
@@ -5,8 +5,8 @@
 #include "aos/containers/sized_array.h"
 #include "frc971/control_loops/drivetrain/localizer_generated.h"
 #include "frc971/control_loops/pose.h"
+#include "frc971/vision/target_map_utils.h"
 #include "y2023/constants.h"
-#include "y2023/localizer/utils.h"
 
 DEFINE_double(max_pose_error, 1e-6,
               "Throw out target poses with a higher pose error than this");
diff --git a/y2023/localizer/localizer_test.cc b/y2023/localizer/localizer_test.cc
index fb0efa9..c47e46e 100644
--- a/y2023/localizer/localizer_test.cc
+++ b/y2023/localizer/localizer_test.cc
@@ -8,10 +8,10 @@
 #include "frc971/control_loops/drivetrain/localizer_generated.h"
 #include "frc971/control_loops/pose.h"
 #include "frc971/vision/target_map_generated.h"
+#include "frc971/vision/target_map_utils.h"
 #include "y2023/constants/simulated_constants_sender.h"
 #include "y2023/control_loops/drivetrain/drivetrain_base.h"
 #include "y2023/localizer/status_generated.h"
-#include "y2023/localizer/utils.h"
 
 DEFINE_string(output_folder, "",
               "If set, logs all channels to the provided logfile.");
diff --git a/y2023/localizer/map_expander_lib.cc b/y2023/localizer/map_expander_lib.cc
index 5a94985..884b184 100644
--- a/y2023/localizer/map_expander_lib.cc
+++ b/y2023/localizer/map_expander_lib.cc
@@ -1,6 +1,6 @@
 #include "y2023/localizer/map_expander_lib.h"
 
-#include "y2023/localizer/utils.h"
+#include "frc971/vision/target_map_utils.h"
 
 namespace y2023::localizer {
 namespace {
diff --git a/y2023/localizer/utils.h b/y2023/localizer/utils.h
deleted file mode 100644
index 8241cf8..0000000
--- a/y2023/localizer/utils.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef Y2023_LOCALIZER_UTILS_H_
-#define Y2023_LOCALIZER_UTILS_H_
-
-#include <Eigen/Dense>
-
-#include "frc971/vision/target_map_generated.h"
-
-namespace y2023::localizer {
-// Converts a TargetPoseFbs into a transformation matrix.
-Eigen::Matrix<double, 4, 4> PoseToTransform(
-    const frc971::vision::TargetPoseFbs *pose);
-}  // namespace y2023::localizer
-
-#endif  // Y2023_LOCALIZER_UTILS_H_
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index f583abd..88c1f54 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -78,9 +78,9 @@
         "//aos/events:shm_event_loop",
         "//frc971/constants:constants_sender_lib",
         "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+        "//frc971/vision:target_map_utils",
         "//frc971/vision:vision_fbs",
         "//y2023/localizer",
-        "//y2023/localizer:utils",
         "//y2023/vision:vision_util",
         "@com_google_absl//absl/strings",
     ],
diff --git a/y2023/vision/localization_verifier.cc b/y2023/vision/localization_verifier.cc
index c16f874..01ef9fe 100644
--- a/y2023/vision/localization_verifier.cc
+++ b/y2023/vision/localization_verifier.cc
@@ -3,9 +3,9 @@
 #include "aos/init.h"
 #include "frc971/constants/constants_sender_lib.h"
 #include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/vision/target_map_utils.h"
 #include "frc971/vision/vision_generated.h"
 #include "y2023/localizer/localizer.h"
-#include "y2023/localizer/utils.h"
 
 DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
 
@@ -49,7 +49,7 @@
     }
 
     const Localizer::Transform H_camera_target =
-        localizer::PoseToTransform(target_pose);
+        frc971::vision::PoseToTransform(target_pose);
     const Localizer::Transform H_field_robot =
         LocalizerOutputToTransform(*localizer_fetcher->get());