diff --git a/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/VisionFilterImpl.java b/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/VisionFilterImpl.java
index 977d0f89..ba88dc61 100644
--- a/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/VisionFilterImpl.java
+++ b/modules/moduli-vision/src/main/java/edu/tigers/sumatra/vision/VisionFilterImpl.java
@@ -155,7 +155,7 @@ protected void updateCamDetectionFrame(final CamDetectionFrame camDetectionFrame
 
 	private void processCamFrameQueue()
 	{
-		while (!scheduledExecutorService.isShutdown())
+		while (scheduledExecutorService != null && !scheduledExecutorService.isShutdown())
 		{
 			try
 			{