diff --git a/perception/perception_utils/CMakeLists.txt b/perception/perception_utils/CMakeLists.txt
index e4b581928cc5e..5623d830918fe 100644
--- a/perception/perception_utils/CMakeLists.txt
+++ b/perception/perception_utils/CMakeLists.txt
@@ -13,6 +13,11 @@ target_link_libraries(${PROJECT_NAME}
   ${OpenCV_LIBS}
 )
 
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
 if(BUILD_TESTING)
   ament_auto_add_gtest(test_utils
     test/test_utils.cpp