You cannot legally publish it without having a written and signed permission to use the characters. If you use drawings of other artists, you need in additon permissions for all of them.
If you have already made the game but haven't all needed permissions, you are in safe if you do not give your work to anyone, sell it nor put it available for free.
Who can give a permission? Only the copyright owner, it's your job to find them. Unknown owner does give no rights to you. Well known famous characters usually belong to established publishers and it's easy to find how to get the needed permissions. Probably you must pay for every copy.
NOTE: The local law affects, too. What I wrote is generally true in developed western countries.