diff --git a/argoverse/utils/calibration.py b/argoverse/utils/calibration.py
index bcd4924c..b5234e62 100644
--- a/argoverse/utils/calibration.py
+++ b/argoverse/utils/calibration.py
@@ -376,8 +376,8 @@ def determine_valid_cam_coords(uv: np.ndarray, uv_cam: np.ndarray, camera_config
     Returns:
        Numpy array of shape (N,) with dtype bool
     """
-    x_valid = np.logical_and(0 <= uv[:, 0], uv[:, 0] < camera_config.img_width)
-    y_valid = np.logical_and(0 <= uv[:, 1], uv[:, 1] < camera_config.img_height)
+    x_valid = np.logical_and(0 <= np.round(uv[:, 0]), np.round(uv[:, 0]) < camera_config.img_width)
+    y_valid = np.logical_and(0 <= np.round(uv[:, 1]), np.round(uv[:, 1]) < camera_config.img_height)
     z_valid = uv_cam[2, :] > 0
     valid_pts_bool = np.logical_and(np.logical_and(x_valid, y_valid), z_valid)
     return valid_pts_bool
diff --git a/tests/test_valid_pt_cloud_proj.py b/tests/test_valid_pt_cloud_proj.py
new file mode 100644
index 00000000..5a41174d
--- /dev/null
+++ b/tests/test_valid_pt_cloud_proj.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+@author: tom-bu
+"""
+
+import numpy as np
+
+from argoverse.utils.calibration import CameraConfig, determine_valid_cam_coords
+
+
+def test_valid_point_cloud_projections() -> None:
+    """Test to ensure determine_valid_cam_coords() returns valid points that are less than the image width and height."""
+    # create a fake camera config
+    camera_config = CameraConfig(
+        extrinsic=np.eye(4), intrinsic=np.eye(3, 4), img_width=1920, img_height=1200, distortion_coeffs=np.zeros(3)
+    )
+
+    # create a test case of projected lidar points in the image space
+    uv = np.array(
+        [
+            [0, 0],
+            [camera_config.img_width - 0.3, 0],
+            [0, camera_config.img_height - 0.3],
+            [camera_config.img_width - 0.3, camera_config.img_height - 0.3],
+        ]
+    )
+    uv_cam = np.ones((4, uv.shape[0]))
+
+    # use the determine_valid_cam_coords() method
+    valid_pts_bool = determine_valid_cam_coords(uv, uv_cam, camera_config)
+
+    # as done in draw_ground_pts_in_image() in ground_visualization.py
+    uv = np.round(uv[valid_pts_bool]).astype(np.int32)
+
+    assert np.all(uv[:, 0] < camera_config.img_width) and np.all(uv[:, 1] < camera_config.img_height)