diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
index 741d333142c9d..f2cd6203b3685 100644
--- a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
@@ -25,8 +25,16 @@ bool transformPointcloud(
   const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output)
 {
   geometry_msgs::msg::TransformStamped tf_stamped;
-  tf_stamped = tf2.lookupTransform(
-    target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5));
+  // lookup transform
+  try {
+    tf_stamped = tf2.lookupTransform(
+      target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5));
+  } catch (tf2::TransformException & ex) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("probabilistic_occupancy_grid_map"), "Failed to lookup transform: %s",
+      ex.what());
+    return false;
+  }
   // transform pointcloud
   Eigen::Matrix4f tf_matrix = tf2::transformToEigen(tf_stamped.transform).matrix().cast<float>();
   pcl_ros::transformPointCloud(tf_matrix, input, output);
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py b/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
index 6b0150dc3fa7b..093811d4cc213 100644
--- a/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
+++ b/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py
@@ -238,6 +238,29 @@ def test_null_input(self, proc_info):
         self.assertIn("occupancy_grid_map_node", nodes)
         self.assertEqual(len(self.msg_buffer), 1)
 
+    def test_null_input2(self, proc_info):
+        """Test null input.
+
+        input: null pointcloud without even frame_id
+        output: null ogm
+        """
+        # wait for the node to be ready
+        time.sleep(3)
+        input_points = []
+        pub_raw, pub_obstacle, sub = self.create_pub_sub()
+        # publish input pointcloud
+        pt_msg = get_pointcloud_msg(input_points)
+        pt_msg.header.frame_id = ""
+        pub_raw.publish(pt_msg)
+        pub_obstacle.publish(pt_msg)
+        # try to subscribe output pointcloud once
+        rclpy.spin_once(self.node, timeout_sec=3.0)
+
+        # check if process is successfully terminated
+        nodes = self.node.get_node_names()
+        self.assertIn("occupancy_grid_map_node", nodes)
+        self.assertEqual(len(self.msg_buffer), 0)
+
 
 @launch_testing.post_shutdown_test()
 class TestProcessOutput(unittest.TestCase):