diff --git a/sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu b/sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu
index 07450a3b77ecc..a37d05ff91313 100644
--- a/sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu
+++ b/sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu
@@ -89,7 +89,7 @@ __global__ void transformPointsKernel(
 }
 
 __global__ void cropBoxKernel(
-  InputPointType * d_points, uint32_t * output_mask, int num_points, float min_x, float min_y,
+  InputPointType * __restrict__ d_points, uint32_t * output_mask, int num_points, float min_x, float min_y,
   float min_z, float max_x, float max_y, float max_z)
 {
   int idx = blockIdx.x * blockDim.x + threadIdx.x;