diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
index 93c72619df28f..964f43c3616ee 100644
--- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
@@ -262,9 +262,9 @@ void DualReturnOutlierFilterComponent::filter(
             }
           }
           current_temp_segment_index++;
+          frequency_image.at<uchar>(ring_id, i) = noise_frequency[i];
         }
       }
-      frequency_image.at<uchar>(ring_id, i) = noise_frequency[i];
     }
   }