Unfortunately, there's not a way to disable it.

If the signal or resolution changes, it will come up and display the new incoming resolution. One way to minimize it would be to use a cable/sat box, and set the output resolution on one specific resolution (like 720p or 1080i) so that it doesn't change if you switch channels.

If you're using a direct connection or OTA (antenna) for television, then the INFO bar will display when the TV detects a signal change.