diff --git a/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp b/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp
index 1d566f23223..141354211cf 100644
--- a/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp
+++ b/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp
@@ -171,7 +171,7 @@ pcl::features::ISMVoteList<PointT>::findStrongestPeaks (
   {
     // find best peak with taking into consideration peak flags
     double best_density = -1.0;
-    Eigen::Vector3f strongest_peak;
+    Eigen::Vector3f strongest_peak = Eigen::Vector3f::Constant (-1);
     int best_peak_ind (-1);
     int peak_counter (0);
     for (int i = 0; i < NUM_INIT_PTS; i++)
@@ -188,7 +188,8 @@ pcl::features::ISMVoteList<PointT>::findStrongestPeaks (
       }
     }
 
-    if( peak_counter == 0 )
+    if( best_density == -1.0 || strongest_peak == Eigen::Vector3f::Constant (-1) ||
+        best_peak_ind == -1 || peak_counter == 0 )
       break;// no peaks
 
     pcl::ISMPeak peak;