diff --git a/localization/landmark_based_localizer/landmark_tf_caster/CMakeLists.txt b/localization/landmark_based_localizer/landmark_tf_caster/CMakeLists.txt
index 47899d716e411..8d8cb546b6162 100644
--- a/localization/landmark_based_localizer/landmark_tf_caster/CMakeLists.txt
+++ b/localization/landmark_based_localizer/landmark_tf_caster/CMakeLists.txt
@@ -12,16 +12,10 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-find_package(OpenCV REQUIRED)
-
 ament_auto_add_executable(landmark_tf_caster
   src/landmark_tf_caster_node.cpp
   src/landmark_tf_caster_core.cpp
 )
-target_include_directories(landmark_tf_caster
-  SYSTEM PUBLIC
-  ${OpenCV_INCLUDE_DIRS}
-)
 
 ament_auto_package(
   INSTALL_TO_SHARE
diff --git a/localization/landmark_based_localizer/landmark_tf_caster/package.xml b/localization/landmark_based_localizer/landmark_tf_caster/package.xml
index 9740e26e2d04a..138aa12d7ac87 100644
--- a/localization/landmark_based_localizer/landmark_tf_caster/package.xml
+++ b/localization/landmark_based_localizer/landmark_tf_caster/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_auto_mapping_msgs</depend>
+  <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>