diff --git a/g2o/core/optimizable_graph.cpp b/g2o/core/optimizable_graph.cpp
index 4166fb836..7274de757 100644
--- a/g2o/core/optimizable_graph.cpp
+++ b/g2o/core/optimizable_graph.cpp
@@ -135,15 +135,17 @@ bool OptimizableGraph::Edge::resolveParameters() {
   for (size_t i = 0; i < _parameters.size(); i++) {
     int index = _parameterIds[i];
     *_parameters[i] = graph()->parameter(index);
+    if (!*_parameters[i]) {
+      G2O_CRITICAL(
+          "parameter {} is NULL. Check setParameterId() calls for the edge.",
+          i);
+      return false;
+    }
     auto& aux = **_parameters[i];
     if (typeid(aux).name() != _parameterTypes[i]) {
       G2O_CRITICAL("parameter type mismatch - encountered {}; should be {}",
                    typeid(aux).name(), _parameterTypes[i]);
     }
-    if (!*_parameters[i]) {
-      G2O_CRITICAL("*_parameters[i] == 0");
-      return false;
-    }
   }
   return true;
 }
@@ -228,12 +230,12 @@ bool OptimizableGraph::addEdge(OptimizableGraph::Edge* e) {
   e->_internalId = _nextEdgeId++;
   if (e->numUndefinedVertices()) return true;
   if (!e->resolveParameters()) {
-    G2O_ERROR("{}: FATAL, cannot resolve parameters for edge {}",
+    G2O_ERROR("FATAL, cannot resolve parameters for edge {}",
               static_cast<void*>(e));
     return false;
   }
   if (!e->resolveCaches()) {
-    G2O_ERROR("{}: FATAL, cannot resolve caches for edge {}",
+    G2O_ERROR("FATAL, cannot resolve caches for edge {}",
               static_cast<void*>(e));
     return false;
   }
@@ -263,12 +265,12 @@ bool OptimizableGraph::setEdgeVertex(HyperGraph::Edge* e, int pos,
     OptimizableGraph::Edge* ee = static_cast<OptimizableGraph::Edge*>(e);
 #endif
     if (!ee->resolveParameters()) {
-      G2O_ERROR("{}: FATAL, cannot resolve parameters for edge {}",
+      G2O_ERROR("FATAL, cannot resolve parameters for edge {}",
                 static_cast<void*>(e));
       return false;
     }
     if (!ee->resolveCaches()) {
-      G2O_ERROR("{}: FATAL, cannot resolve caches for edge {}",
+      G2O_ERROR("FATAL, cannot resolve caches for edge {}",
                 static_cast<void*>(e));
       return false;
     }
diff --git a/unit_test/general/graph_operations.cpp b/unit_test/general/graph_operations.cpp
index bfec65fdd..d442691cb 100644
--- a/unit_test/general/graph_operations.cpp
+++ b/unit_test/general/graph_operations.cpp
@@ -42,7 +42,10 @@
 #include "g2o/core/optimization_algorithm_property.h"
 #include "g2o/core/sparse_optimizer.h"
 #include "g2o/stuff/string_tools.h"
-#include "g2o/types/slam2d/types_slam2d.h"
+#include "g2o/types/slam2d/types_slam2d.h"  // IWYU pragma: keep
+#include "g2o/types/slam3d/edge_se3_pointxyz.h"
+#include "g2o/types/slam3d/vertex_pointxyz.h"
+#include "g2o/types/slam3d/vertex_se3.h"
 
 G2O_USE_TYPE_GROUP(slam2d);
 
@@ -136,6 +139,27 @@ TEST(General, GraphAddEdge) {
   delete optimizer;
 }
 
+TEST(General, GraphAddEdgeNoRequiredParam) {
+  g2o::SparseOptimizer* optimizer = g2o::internal::createOptimizerForTests();
+
+  g2o::VertexSE3* poseVertex = new g2o::VertexSE3();
+  poseVertex->setId(0);
+  optimizer->addVertex(poseVertex);
+
+  g2o::VertexPointXYZ* pointVertex = new g2o::VertexPointXYZ();
+  pointVertex->setId(1);
+  optimizer->addVertex(pointVertex);
+
+  g2o::EdgeSE3PointXYZ* edge = new g2o::EdgeSE3PointXYZ();
+  edge->setVertex(0, poseVertex);
+  edge->setVertex(1, pointVertex);
+
+  EXPECT_FALSE(optimizer->addEdge(edge));
+
+  optimizer->clear();
+  delete optimizer;
+}
+
 TEST(General, GraphChangeId) {
   std::unique_ptr<g2o::SparseOptimizer> optimizer(
       g2o::internal::createOptimizerForTests());