diff --git a/jsk_recognition_utils/CMakeLists.txt b/jsk_recognition_utils/CMakeLists.txt
index 55c405fd04..3302ccd202 100644
--- a/jsk_recognition_utils/CMakeLists.txt
+++ b/jsk_recognition_utils/CMakeLists.txt
@@ -12,6 +12,7 @@ endif(CCACHE_FOUND)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
   dynamic_reconfigure
   jsk_recognition_msgs
   pcl_ros
@@ -52,7 +53,7 @@ generate_dynamic_reconfigure_options(
 catkin_package(
  INCLUDE_DIRS include
  LIBRARIES jsk_recognition_utils
- CATKIN_DEPENDS jsk_recognition_msgs pcl_ros visualization_msgs message_runtime
+ CATKIN_DEPENDS cv_bridge jsk_recognition_msgs pcl_ros visualization_msgs message_runtime
 )
 
 # Cythonize pyx files
diff --git a/jsk_recognition_utils/package.xml b/jsk_recognition_utils/package.xml
index addea7b519..86f33ef40f 100644
--- a/jsk_recognition_utils/package.xml
+++ b/jsk_recognition_utils/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION==2">cython</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION==3">cython3</build_depend>
   <build_depend>eigen_conversions</build_depend>
@@ -35,6 +36,7 @@
   <build_depend>visualization_msgs</build_depend>
   <build_depend>yaml-cpp</build_depend>
   <build_depend>message_generation</build_depend>
+  <exec_depend>cv_bridge</exec_depend>
   <exec_depend>eigen_conversions</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>image_geometry</exec_depend>