diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml
index 2fa9c7308d7aa..59dec38b4e7f0 100644
--- a/perception/image_projection_based_fusion/package.xml
+++ b/perception/image_projection_based_fusion/package.xml
@@ -20,6 +20,7 @@
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
   <depend>tier4_perception_msgs</depend>