diff --git a/localization/autoware_landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp
index e93803a60a4c4..cf03b546df31d 100644
--- a/localization/autoware_landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp
+++ b/localization/autoware_landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp
@@ -400,6 +400,10 @@ std::vector<landmark_manager::Landmark> LidarMarkerLocalizer::detect_landmarks(
   
   // for each ring
   for (const pcl::PointCloud<autoware_point_types::PointXYZIRADRT> & one_ring : ring_points) {
+    if (one_ring.empty()) {
+      continue;
+    }
+
     std::vector<double> intensity_sum(bin_num, 0.0);
     std::vector<int> intensity_num(bin_num, 0);
     std::vector<double> average_intensity(bin_num, 0.0);