diff --git a/VirtualRobot/BoundingBox.cpp b/VirtualRobot/BoundingBox.cpp
index 2895d6e9b1a0d4e3df8588d6a1e9099ec0540ac7..8b91ce8450af30100e3afaddf4bfbe2b4dfdbecf 100644
--- a/VirtualRobot/BoundingBox.cpp
+++ b/VirtualRobot/BoundingBox.cpp
@@ -47,6 +47,12 @@ namespace VirtualRobot
     {
         std::vector < Eigen::Vector3f > points;
 
+        if (std::isnan(min(0)) || std::isnan(min(1)) || std::isnan(min(2)) ||
+                std::isnan(max(0)) || std::isnan(max(1)) || std::isnan(max(2)))
+        {
+            return points;
+        }
+
         points.push_back(Eigen::Vector3f(min(0), min(1), min(2)));
         points.push_back(Eigen::Vector3f(min(0), min(1), max(2)));
         points.push_back(Eigen::Vector3f(min(0), max(1), min(2)));