diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
index e12d9795db..98433ead04 100644
--- a/nav2_collision_monitor/src/collision_detector_node.cpp
+++ b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -314,7 +314,7 @@ void CollisionDetector::process()
     state_msg->polygons.push_back(polygon->getName());
     state_msg->detections.push_back(
       polygon->getPointsInside(
-        collision_points) > polygon->getMinPoints());
+        collision_points) >= polygon->getMinPoints());
   }
 
   state_pub_->publish(std::move(state_msg));