diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt
index d6296082..21bb0cec 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/CMakeLists.txt
@@ -16,16 +16,12 @@ find_package(pybind11 REQUIRED)
 
 autoware_package()
 
-# These need to be called after autoware_package to avoid being overwritten
-find_package(Boost REQUIRED COMPONENTS system serialization filesystem)
-
 # Optimizer as a library
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/ceres_camera_intrinsics_optimizer.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
-  ${Boost_LIBRARIES}
   ${OpenCV_LIBS}
   ${CERES_LIBRARIES}
 )
@@ -47,7 +43,6 @@ ament_auto_add_executable(${PROJECT_NAME}_test
 )
 
 target_link_libraries(${PROJECT_NAME}_test
-  ${Boost_LIBRARIES}
   ${OpenCV_LIBS}
   ${CERES_LIBRARIES}
   ${PROJECT_NAME}
diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
index 2c960333..fa851bc1 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/package.xml
@@ -4,7 +4,7 @@
   <name>ceres_intrinsic_camera_calibrator</name>
   <version>0.0.1</version>
   <description>The ceres_intrinsic_camera_calibrator package</description>
-  <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos Tsunekawa</maintainer>
+  <maintainer email="kenzo.lobos@tier4.jp">Kenzo Lobos-Tsunekawa</maintainer>
 
   <license>BSD</license>
 
@@ -13,29 +13,12 @@
 
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>eigen</depend>
-  <depend>geometry_msgs</depend>
-  <depend>image_geometry</depend>
-  <depend>image_transport</depend>
-  <depend>libboost-filesystem</depend>
-  <depend>libboost-serialization</depend>
   <depend>libceres-dev</depend>
   <depend>libgoogle-glog-dev</depend>
-  <depend>lidartag_msgs</depend>
   <depend>pybind11-dev</depend>
   <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>tf2_ros</depend>
-  <depend>tier4_calibration_msgs</depend>
-  <depend>tier4_tag_utils</depend>
-  <depend>visualization_msgs</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
index e89296d4..ea953d85 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
@@ -27,7 +27,6 @@
 
 #include <ceres/ceres.h>
 #include <ceres/loss_function.h>
-#include <cv_bridge/cv_bridge.h>
 
 #include <algorithm>
 #include <cstdio>