diff --git a/GEMstack/onboard/perception/pedestrian_detection.py b/GEMstack/onboard/perception/pedestrian_detection.py
index f12cec27e..6b164e047 100644
--- a/GEMstack/onboard/perception/pedestrian_detection.py
+++ b/GEMstack/onboard/perception/pedestrian_detection.py
@@ -37,7 +37,6 @@
 from copy import deepcopy
 # ROS, CV
 import rospy
-import message_filters
 import tf
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image, PointCloud2
@@ -52,7 +51,7 @@
 from ..component import Component
 from .IdTracker import IdTracker
 from scipy.spatial.transform import Rotation as R
-from septentrio_gnss_driver.msg import INSNavGeod
+
 
 def box_to_fake_agent(box):
     """Creates a fake agent state from an (x,y,w,h) bounding box.
@@ -137,6 +136,7 @@ def update(self, vehicle : VehicleState) -> Dict[str,AgentState]:
 
         # Edge cases
 
+        # Initial vehicle pose data
         if(self.current_vehicle_state == None and self.previous_vehicle_state == None):
             self.current_vehicle_state = vehicle
             # We get vehicle state from GNSS in global state
@@ -150,8 +150,18 @@ def update(self, vehicle : VehicleState) -> Dict[str,AgentState]:
             self.previous_vehicle_state = self.current_vehicle_state
             self.current_vehicle_state = vehicle
 
+        # edge case to handle no pedestrian data
         if(self.current_agent_obj_dims == {}):
-            return self.current_agents
+            return {}
+
+        # edge case to handle empty lists:
+        if(len(self.current_agent_obj_dims['pose']) == 0 or len(self.current_agent_obj_dims['dims']) == 0):
+            return {}
+
+        # Edge case to handle differently sized lists:
+        # TODO: Handle different lengths properly
+        if len(self.current_agent_obj_dims['pose']) != len(self.current_agent_obj_dims['dims']):
+            raise Exception( f"Length of extracted poses ({len(self.current_agent_obj_dims['pose'])}) and dimensions ({len(self.current_agent_obj_dims['dims'])}) are not equal")
         
         # Update current time:
         self.curr_time = vehicle.pose.t