diff --git a/perception/autoware_image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml b/perception/autoware_image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
index 444f7d92ede4e..fdabb0c7055d8 100644
--- a/perception/autoware_image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
+++ b/perception/autoware_image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
@@ -22,4 +22,3 @@
 
     # the maximum distance of pointcloud to be applied filter
     filter_distance_threshold: 60.0
-    is_publish_debug_mask: false
diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
index af7a4cb18ad61..c57d455300125 100644
--- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
+++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/segmentation_pointcloud_fusion/node.hpp
@@ -18,7 +18,6 @@
 #include "autoware/image_projection_based_fusion/fusion_node.hpp"
 
 #include <autoware/image_projection_based_fusion/utils/utils.hpp>
-#include <image_transport/image_transport.hpp>
 
 #include <string>
 #include <utility>
@@ -45,9 +44,6 @@ class SegmentPointCloudFusionNode : public FusionNode<PointCloud2, PointCloud2,
     {"BIKE", false},          {"ROAD", false},         {"SIDEWALK", false},   {"ROAD_PAINT", false},
     {"CURBSTONE", false},     {"CROSSWALK", false},    {"VEGETATION", false}, {"SKY", false}};
 
-  image_transport::Publisher pub_debug_mask_ptr_;
-  bool is_publish_debug_mask_;
-
 public:
   explicit SegmentPointCloudFusionNode(const rclcpp::NodeOptions & options);
 
diff --git a/perception/autoware_image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json b/perception/autoware_image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json
index a21ad583af468..f5ab1be5eac34 100644
--- a/perception/autoware_image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json
+++ b/perception/autoware_image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json
@@ -114,18 +114,9 @@
           "description": "A maximum distance of pointcloud to apply filter [m].",
           "default": 60.0,
           "minimum": 0.0
-        },
-        "is_publish_debug_mask": {
-          "type": "boolean",
-          "description": "If true, debug mask image will be published.",
-          "default": false
         }
       },
-      "required": [
-        "filter_semantic_label_target",
-        "filter_distance_threshold",
-        "is_publish_debug_mask"
-      ]
+      "required": ["filter_semantic_label_target", "filter_distance_threshold"]
     }
   },
   "properties": {
diff --git a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
index 6a221c5423639..9d8c462dd4ecb 100644
--- a/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
+++ b/perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp
@@ -39,8 +39,6 @@ SegmentPointCloudFusionNode::SegmentPointCloudFusionNode(const rclcpp::NodeOptio
     RCLCPP_INFO(
       this->get_logger(), "filter_semantic_label_target: %s %d", item.first.c_str(), item.second);
   }
-  is_publish_debug_mask_ = declare_parameter<bool>("is_publish_debug_mask");
-  pub_debug_mask_ptr_ = image_transport::create_publisher(this, "debug/mask");
 }
 
 void SegmentPointCloudFusionNode::preprocess(__attribute__((unused)) PointCloud2 & pointcloud_msg)
@@ -67,13 +65,6 @@ void SegmentPointCloudFusionNode::fuseOnSingleImage(
   std::vector<uint8_t> mask_data(input_mask.data.begin(), input_mask.data.end());
   cv::Mat mask = perception_utils::runLengthDecoder(mask_data, input_mask.height, input_mask.width);
 
-  // publish debug mask
-  if (is_publish_debug_mask_) {
-    sensor_msgs::msg::Image::SharedPtr debug_mask_msg =
-      cv_bridge::CvImage(std_msgs::msg::Header(), "mono8", mask).toImageMsg();
-    debug_mask_msg->header = input_mask.header;
-    pub_debug_mask_ptr_.publish(debug_mask_msg);
-  }
   const int orig_width = camera_info.width;
   const int orig_height = camera_info.height;
   // resize mask to the same size as the camera image