diff --git a/planning/interest_objects_marker_interface/include/interest_objects_marker_interface/interest_objects_marker_interface.hpp b/planning/interest_objects_marker_interface/include/interest_objects_marker_interface/interest_objects_marker_interface.hpp
index 9c8f20351d329..fa1dffdada7e6 100644
--- a/planning/interest_objects_marker_interface/include/interest_objects_marker_interface/interest_objects_marker_interface.hpp
+++ b/planning/interest_objects_marker_interface/include/interest_objects_marker_interface/interest_objects_marker_interface.hpp
@@ -19,8 +19,6 @@
 #include "interest_objects_marker_interface/marker_utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/planning/interest_objects_marker_interface/package.xml b/planning/interest_objects_marker_interface/package.xml
index 4526fcd01e38b..fcf738b4c15d5 100644
--- a/planning/interest_objects_marker_interface/package.xml
+++ b/planning/interest_objects_marker_interface/package.xml
@@ -12,8 +12,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_auto_perception_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>