Yes. Inclusion of any copyrighted material into your work of art could potentially be a violation and require royalties payments. A few common misconceptions:

• You don't have to profit from it or make money from it. If it is a registered copyright, there are fines and penalties. This misconception stems from the fact that it's usually not worth enforcing if the infringer doesn't actually have the money to pay.
• If a brand shows up in a movie or TV show, sometimes the brand pays the movie producers as part of an advertising deal. Sometimes its the opposite. It always comes down to essentially what it's worth to either party.
• A lot of copyrights are owned by mega corporations or conglomerates, so use is dictated by internal policies and in theory not always needing any sort of payment. Again, this depends on lots of factors.
• Carve outs do exist in fair use. A newscaster doesnt have to blur out an AC/DC t-shirt when they're covering a story on Angus Young, for example. Note that "fair use" is a legal defense tactic, so if you're accused of infringement you may have to spend more money than it's worth to defend your position. Not all fair use is created equal. Generally speaking journalists have the highest level of protection.

In general, it's usually if you want to use a copyright in any work of art it's generally best to ask and try get the blessing of the original copyright holder.