diff --git a/src/lio/Estimator.cpp b/src/lio/Estimator.cpp
index 08ea90a..3cf03eb 100644
--- a/src/lio/Estimator.cpp
+++ b/src/lio/Estimator.cpp
@@ -927,7 +927,9 @@ void Estimator::Estimate(std::list<LidarFrame>& lidarFrameList,
   Eigen::Vector3d exPbl = -1.0 * exRbl * exTlb.topRightCorner(3,1);
   kdtreeCornerFromLocal->setInputCloud(laserCloudCornerFromLocal);
   kdtreeSurfFromLocal->setInputCloud(laserCloudSurfFromLocal);
-  kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);
+  if(!laserCloudNonFeatureFromLocal->empty()) {
+    kdtreeNonFeatureFromLocal->setInputCloud(laserCloudNonFeatureFromLocal);
+  }
 
   std::unique_lock<std::mutex> locker3(map_manager->mtx_MapManager);
   for(int i = 0; i < 4851; i++){