diff --git a/grid_map_filters/CMakeLists.txt b/grid_map_filters/CMakeLists.txt
index 9d0cba5a5..2e3205b64 100644
--- a/grid_map_filters/CMakeLists.txt
+++ b/grid_map_filters/CMakeLists.txt
@@ -6,6 +6,7 @@ find_package(ament_cmake REQUIRED)
 find_package(filters REQUIRED)
 find_package(grid_map_cmake_helpers REQUIRED)
 find_package(grid_map_core REQUIRED)
+find_package(grid_map_cv REQUIRED)
 find_package(grid_map_msgs REQUIRED)
 find_package(grid_map_ros REQUIRED)
 find_package(pluginlib REQUIRED)
@@ -29,6 +30,7 @@ set(dependencies
   TBB
   filters
   grid_map_core
+  grid_map_cv
   grid_map_msgs
   grid_map_ros
   pluginlib
diff --git a/grid_map_filters/package.xml b/grid_map_filters/package.xml
index 8dc30a64f..8345c406b 100644
--- a/grid_map_filters/package.xml
+++ b/grid_map_filters/package.xml
@@ -18,6 +18,7 @@
 
   <depend>filters</depend>
   <depend>grid_map_core</depend>
+  <depend>grid_map_cv</depend>
   <depend>grid_map_msgs</depend>
   <depend>grid_map_ros</depend>
   <depend>pluginlib</depend>