diff --git a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp
index d3ae763ffe4bf..670e58fb936cc 100644
--- a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp
+++ b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp
@@ -51,7 +51,12 @@
 #ifndef TIER4_PCL_EXTENSIONS__VOXEL_GRID_NEAREST_CENTROID_HPP_
 #define TIER4_PCL_EXTENSIONS__VOXEL_GRID_NEAREST_CENTROID_HPP_
 
+#include <pcl/pcl_config.h>
+
+#if PCL_VERSION < PCL_VERSION_CALC(1, 12, 0)
 #include <pcl/filters/boost.h>
+#endif
+
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/point_types.h>
@@ -97,8 +102,8 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
   typedef typename PointCloud::ConstPtr PointCloudConstPtr;
 
 public:
-  typedef boost::shared_ptr<VoxelGrid<PointT>> Ptr;
-  typedef boost::shared_ptr<const VoxelGrid<PointT>> ConstPtr;
+  typedef pcl::shared_ptr<VoxelGrid<PointT>> Ptr;
+  typedef pcl::shared_ptr<const VoxelGrid<PointT>> ConstPtr;
 
   /** \brief Simple structure to hold a centroid, covariance and the number of points in a leaf.
    * Inverse covariance, eigen vectors and eigen values are precomputed. */
diff --git a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
index 84ebacf4e57ed..5a8a8c3619cdd 100644
--- a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
+++ b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
@@ -57,7 +57,11 @@
 #include <Eigen/Dense>
 
 #include <pcl/common/common.h>
+#include <pcl/pcl_config.h>
+
+#if PCL_VERSION < PCL_VERSION_CALC(1, 12, 0)
 #include <pcl/filters/boost.h>
+#endif
 
 #include <limits>
 #include <map>