diff --git a/perception/traffic_light_classifier/utils/trt_common.cpp b/perception/traffic_light_classifier/utils/trt_common.cpp
index 4aae3e0ece5e1..f36bf3ba70e3e 100644
--- a/perception/traffic_light_classifier/utils/trt_common.cpp
+++ b/perception/traffic_light_classifier/utils/trt_common.cpp
@@ -75,8 +75,8 @@ void TrtCommon::setup()
   }
 
   context_ = UniquePtr<nvinfer1::IExecutionContext>(engine_->createExecutionContext());
-  input_dims_ = engine_->getBindingDimensions(getInputBindingIndex());
-  output_dims_ = engine_->getBindingDimensions(getOutputBindingIndex());
+  input_dims_ = engine_->getTensorShape(input_name_.c_str());
+  output_dims_ = engine_->getTensorShape(output_name_.c_str());
   is_initialized_ = true;
 }
 
@@ -155,8 +155,4 @@ int TrtCommon::getNumOutput()
     output_dims_.d, output_dims_.d + output_dims_.nbDims, 1, std::multiplies<int>());
 }
 
-int TrtCommon::getInputBindingIndex() { return engine_->getBindingIndex(input_name_.c_str()); }
-
-int TrtCommon::getOutputBindingIndex() { return engine_->getBindingIndex(output_name_.c_str()); }
-
 }  // namespace Tn
diff --git a/perception/traffic_light_classifier/utils/trt_common.hpp b/perception/traffic_light_classifier/utils/trt_common.hpp
index 9577dfd2262a6..7fc3d3b3e46d9 100644
--- a/perception/traffic_light_classifier/utils/trt_common.hpp
+++ b/perception/traffic_light_classifier/utils/trt_common.hpp
@@ -118,8 +118,6 @@ class TrtCommon
   bool isInitialized();
   int getNumInput();
   int getNumOutput();
-  int getInputBindingIndex();
-  int getOutputBindingIndex();
 
   UniquePtr<nvinfer1::IExecutionContext> context_;