diff --git a/io/src/obj_io.cpp b/io/src/obj_io.cpp
index 095b81e483d..6116e66c36e 100644
--- a/io/src/obj_io.cpp
+++ b/io/src/obj_io.cpp
@@ -37,6 +37,7 @@
  */
 #include <pcl/io/obj_io.h>
 #include <fstream>
+#include <exception>
 #include <pcl/common/io.h>
 #include <pcl/common/pcl_filesystem.h>
 #include <pcl/console/time.h>
@@ -654,6 +655,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
 
           int v = std::stoi(f_st[0]);
           v = (v < 0) ? point_idx + v : v - 1;
+          if (v < 0 || static_cast<std::size_t> (v) >= cloud.width)
+          {
+            PCL_ERROR ("[pcl::OBJReader::read] Vertex index out of bounds in line %s\n", line.c_str ());
+            fs.close ();
+            return (-1);
+          }
           face_vertices.vertices[i - 1] = v;
 
           //handle normals
@@ -661,7 +668,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
           {
             int n = std::stoi(n_st);
             n = (n < 0) ? normal_idx + n : n - 1;
-
+            if (normal_mapping.empty() || n < 0 || static_cast<std::size_t> (n) >= normals.size())
+            {
+              PCL_ERROR ("[pcl::OBJReader::read] Normal index out of bounds in line %s\n", line.c_str ());
+              fs.close ();
+              return (-1);
+            }
             normal_mapping[v] += normals[n];
             normal_mapping_used = true;
           }
@@ -676,6 +688,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
     fs.close ();
     return (-1);
   }
+  catch (const std::exception &exception)
+  {
+    PCL_ERROR ("[pcl::OBJReader::read] %s\n", exception.what ());
+    fs.close ();
+    return (-1);
+  }
 
   if (normal_mapping_used && !normal_mapping.empty())
   {
@@ -899,6 +917,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
 
           int v = std::stoi(f_st[0]);
           v = (v < 0) ? v_idx + v : v - 1;
+          if (v < 0 || static_cast<std::size_t> (v) >= mesh.cloud.width)
+          {
+            PCL_ERROR ("[pcl::OBJReader::read] Vertex index out of bounds in line %s\n", line.c_str ());
+            fs.close ();
+            return (-1);
+          }
           face_vertices.vertices[i - 1] = v;
 
           //handle normals
@@ -906,7 +930,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
           {
             int n = std::stoi(n_st);
             n = (n < 0) ? vn_idx + n : n - 1;
-
+            if (normal_mapping.empty() || n < 0 || static_cast<std::size_t> (n) >= normals.size())
+            {
+              PCL_ERROR ("[pcl::OBJReader::read] Normal index out of bounds in line %s\n", line.c_str ());
+              fs.close ();
+              return (-1);
+            }
             normal_mapping[v] += normals[n];
           }
 
@@ -914,7 +943,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
           {
             int vt = std::stoi(vt_st);
             vt = (vt < 0) ? vt_idx + vt : vt - 1;
-
+            if (vt < 0 || static_cast<std::size_t> (vt) >= vt_idx)
+            {
+              PCL_ERROR ("[pcl::OBJReader::read] Texture coordinate index out of bounds in line %s\n", line.c_str ());
+              fs.close ();
+              return (-1);
+            }
             tex_indices.vertices.push_back(vt);
           }
         }
@@ -931,6 +965,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
     fs.close ();
     return (-1);
   }
+  catch (const std::exception &exception)
+  {
+    PCL_ERROR ("[pcl::OBJReader::read] %s\n", exception.what ());
+    fs.close ();
+    return (-1);
+  }
 
   if (!normal_mapping.empty())
   {
@@ -1097,6 +1137,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh,
 
           int v = std::stoi(f_st[0]);
           v = (v < 0) ? v_idx + v : v - 1;
+          if (v < 0 || static_cast<std::size_t> (v) >= mesh.cloud.width)
+          {
+            PCL_ERROR ("[pcl::OBJReader::read] Vertex index out of bounds in line %s\n", line.c_str ());
+            fs.close ();
+            return (-1);
+          }
           face_vertices.vertices[i - 1] = v;
 
           //handle normals
@@ -1104,7 +1150,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh,
           {
             int n = std::stoi(n_st);
             n = (n < 0) ? vn_idx + n : n - 1;
-              
+            if (normal_mapping.empty() || n < 0 || static_cast<std::size_t> (n) >= normals.size())
+            {
+              PCL_ERROR ("[pcl::OBJReader::read] Normal index out of bounds in line %s\n", line.c_str ());
+              fs.close ();
+              return (-1);
+            }
             normal_mapping[v] += normals[n];
             normal_mapping_used = true;
           }
@@ -1120,6 +1171,12 @@ pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh,
     fs.close ();
     return (-1);
   }
+  catch (const std::exception &exception)
+  {
+    PCL_ERROR ("[pcl::OBJReader::read] %s\n", exception.what ());
+    fs.close ();
+    return (-1);
+  }
 
   if (normal_mapping_used && !normal_mapping.empty())
   {
diff --git a/test/io/test_io.cpp b/test/io/test_io.cpp
index 65676705191..f2e1c92086a 100644
--- a/test/io/test_io.cpp
+++ b/test/io/test_io.cpp
@@ -48,6 +48,7 @@
 #include <pcl/io/ply_io.h>
 #include <pcl/io/ascii_io.h>
 #include <pcl/io/obj_io.h>
+#include <pcl/PolygonMesh.h>
 #include <fstream>
 #include <iomanip> // for setprecision
 #include <locale>
@@ -1170,6 +1171,83 @@ TEST(PCL, loadOBJWithoutFaces)
   remove ("test_obj.obj");
 }
 
+TEST(PCL, OBJReadMalformedFaceIndices)
+{
+  const std::string fname = "test_obj_malformed.obj";
+
+  const std::string header =
+      "v 0.0 0.0 0.0\n"
+      "v 1.0 0.0 0.0\n"
+      "v 0.0 1.0 0.0\n"
+      "vn 0.0 0.0 1.0\n"
+      "vt 0.0 0.0\n"
+      "usemtl None\n";
+
+  const std::vector<std::string> bad_faces = {
+    "f 4//1 2//1 3//1\n",
+    "f 999999//1 2//1 3//1\n",
+    "f 1//999999 2//1 3//1\n",
+    "f 0//1 2//1 3//1\n",
+    "f -999//1 2//1 3//1\n",
+    "f abc//1 2//1 3//1\n",
+    "f 99999999999//1 2//1 3//1\n",
+  };
+
+  for (const auto &bad_face : bad_faces)
+  {
+    std::ofstream fs (fname);
+    fs << header << bad_face;
+    fs.close ();
+
+    pcl::OBJReader objreader;
+
+    pcl::PCLPointCloud2 blob;
+    EXPECT_EQ (objreader.read (fname, blob), -1) << "blob reader accepted: " << bad_face;
+
+    pcl::PolygonMesh poly_mesh;
+    EXPECT_EQ (objreader.read (fname, poly_mesh), -1) << "PolygonMesh reader accepted: " << bad_face;
+
+    pcl::TextureMesh tex_mesh;
+    EXPECT_EQ (objreader.read (fname, tex_mesh), -1) << "TextureMesh reader accepted: " << bad_face;
+  }
+
+  {
+    std::ofstream fs (fname);
+    fs << header << "f 1/999999/1 2/1/1 3/1/1\n";
+    fs.close ();
+
+    pcl::OBJReader objreader;
+    pcl::TextureMesh tex_mesh;
+    EXPECT_EQ (objreader.read (fname, tex_mesh), -1);
+  }
+
+  remove (fname.c_str ());
+}
+
+TEST(PCL, OBJReadValidRelativeIndices)
+{
+  const std::string fname = "test_obj_relative.obj";
+  std::ofstream fs (fname);
+  fs << "v 0.0 0.0 0.0\n"
+        "v 1.0 0.0 0.0\n"
+        "v 0.0 1.0 0.0\n"
+        "vn 0.0 0.0 1.0\n"
+        "f -3//-1 -2//-1 -1//-1\n";
+  fs.close ();
+
+  pcl::OBJReader objreader;
+
+  pcl::PCLPointCloud2 blob;
+  EXPECT_EQ (objreader.read (fname, blob), 0);
+  EXPECT_EQ (blob.width, 3);
+
+  pcl::PolygonMesh poly_mesh;
+  EXPECT_EQ (objreader.read (fname, poly_mesh), 0);
+  EXPECT_EQ (poly_mesh.polygons.size (), 1);
+
+  remove (fname.c_str ());
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 struct PointXYZFPFH33