diff --git a/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
index 2e3b7f41787c8..320b9d30c9dd5 100644
--- a/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
+++ b/sensing/autoware_pointcloud_preprocessor/schema/pickup_based_voxel_grid_downsample_filter_node.schema.json
@@ -10,19 +10,19 @@
           "type": "number",
           "description": "voxel size along the x-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         },
         "voxel_size_y": {
           "type": "number",
           "description": "voxel size along the y-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         },
         "voxel_size_z": {
           "type": "number",
           "description": "voxel size along the z-axis [m]",
           "default": "1.0",
-          "minimum": 0
+          "exclusiveMinimum": 0.0
         }
       },
       "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z"],
diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
index 0c467234d6591..996a7f8206728 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
@@ -90,6 +90,7 @@ void PickupBasedVoxelGridDownsampleFilterComponent::filter(
   // std::unordered_map<VoxelKey, size_t, VoxelKeyHash, VoxelKeyEqual> voxel_map;
   robin_hood::unordered_map<VoxelKey, size_t, VoxelKeyHash, VoxelKeyEqual> voxel_map;
 
+  if (input->data.empty()) return;
   voxel_map.reserve(input->data.size() / input->point_step);
 
   constexpr float large_num_offset = 100000.0;