diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
index ccceae9ab5186..ffbf322e669dc 100644
--- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
@@ -231,10 +231,10 @@ void DualReturnOutlierFilterComponent::filter(
       if (deleted_azimuths.size() == 0) {
         continue;
       }
-      while ((uint)deleted_azimuths[current_deleted_index] <
+      while (current_deleted_index < deleted_azimuths.size() &&
+             (uint)deleted_azimuths[current_deleted_index] <
                ((i + static_cast<uint>(min_azimuth / horizontal_resolution) + 1) *
-                horizontal_resolution) &&
-             current_deleted_index < (deleted_azimuths.size() - 1)) {
+                horizontal_resolution)) {
         noise_frequency[i] = noise_frequency[i] + 1;
         current_deleted_index++;
       }